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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2dc0814485513ac62dbceb7f6155a85b5b0accdc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1ae5db4fd2234a68d32fd33609df5bcda7949b63
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_hte_00022
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Shake the current contents of
+    beaker b once. Place beaker b on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00022
+  reproducibility:
+    enabled: true
+    layout_id: layout_00022
+    action_seed: 2714716839106178401
+    step_seeds:
+    - 6879855307333582930
+    - 3555770340888182057
+    - 838946150517897658
+    - 4085215967028639945
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2002
+      - 0.2002
+      'y':
+      - 0.3018
+      - 0.3018
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.21
+      - 0.21
+      'y':
+      - 0.1861
+      - 0.1861
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3482
+      - 0.3482
+      'y':
+      - 0.0818
+      - 0.0818
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2638
+      - 0.2638
+      'y':
+      - -0.3351
+      - -0.3351
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c15f48bc349b4904abf476bbc4c66974d79defe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_0_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23681693319995697,
+              0.18339066649647026,
+              1.0476007719831621
+            ],
+            "current_z": 1.0476007719831621,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19101432417924136,
+            "gripper_z": 1.0515596168603774,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2317968828222478,
+              0.17852689854668535,
+              1.0515596168603774
+            ],
+            "object_minus_gripper": [
+              0.005020050377709168,
+              0.0048637679497849085,
+              -0.003958844877215206
+            ],
+            "object_to_gripper_xy": 0.006989788585078439,
+            "object_to_gripper_z": -0.003958844877215206,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23681693319995697,
+              0.1590469849758751,
+              1.0476007719831621
+            ],
+            "finger_b": [
+              0.22488310266898512,
+              0.18339066649647026,
+              1.0476007719831621
+            ],
+            "finger_midpoint": [
+              0.23085001793447105,
+              0.1712188257361727,
+              1.0476007719831621
+            ],
+            "object_minus_finger_midpoint": [
+              0.005966915265485928,
+              0.012171840760297564,
+              0.0
+            ],
+            "finger_gap": 0.02711145774609182,
+            "fingertip_max_gap": 0.09144797392409978,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013555728873045897,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476007719831621,
+            "object_top_z": 1.0935466610978164,
+            "finger_top_clearance": 0.04594588911465425,
+            "fingertip_min_top_clearance": 0.013783766734396307,
+            "object_projection_between_fingers": 0.8062445205718581,
+            "object_to_finger_line_xy": 0.010715520075957993,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048223986962049895,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4896948019017308,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23644661680024706,
+              0.18266676024951617,
+              1.2406429689996996
+            ],
+            "held_position": [
+              0.24176334702403512,
+              0.18708226302229086,
+              1.2365489503428324
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00803276252429382,
+            "max_held_gripper_dist": 0.008037620661239813,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004094018656867204,
+            "max_held_gripper_z_dist": 0.004115390988754797,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08693216735267587,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24176334702403512,
+              0.16180379383703875,
+              1.2365489503428324
+            ],
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+              0.23186554525335215,
+              0.18708226302229086,
+              1.2365489503428324
+            ],
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+              0.1744430284296648,
+              1.2365489503428324
+            ],
+            "held_grasp_object_position": [
+              0.24176334702403512,
+              0.18708226302229086,
+              1.2365489503428324
+            ],
+            "held_grasp_finger_gap": 0.027147145047711294,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024424787602440316,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0778701190528296,
+              -0.9967190030393218,
+              0.022078802934007435
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003959801737826443,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032217088162346225,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3215021654350193,
+              -0.3366541754269221,
+              0.8470198255715338
+            ],
+            "target_position": [
+              0.3142755462237068,
+              -0.3387870635989886,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007534801734608028,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18704068535984666,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198255715338,
+            "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": 0.07568950634107136,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08524097231611959,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15496193217883672,
+            "release_required_pad_clearance": 0.052620486158059795,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3013147345499104,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0077936649322509766,
+            "max_z_decrease": 0.0077936649322509766,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035097036514772216,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0077936649322509766,
+            "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": 0.021186612721105766,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.0077936649322509766,
+            "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": 0.007793676304982215,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16997547447681421,
+              -0.3950485289096831,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16997547447681421,
+              -0.3950485289096831,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16910340156009332,
+              -0.3954132286373016,
+              0.8069427170534288
+            ],
+            "closest_button": [
+              0.1699658036231994,
+              -0.3950501978397369,
+              0.7718581557273865
+            ],
+            "closest_ee_minus_button": [
+              -0.000862402063106088,
+              -0.0003630307975647229,
+              0.03508456132604232
+            ],
+            "button_min_z_position": [
+              0.16996230185031885,
+              -0.3950504660606383,
+              0.7690151929855347
+            ],
+            "min_active_finger_to_button": 0.1469071078730142,
+            "closest_active_finger": [
+              0.028209298849105835,
+              -0.37786442041397095,
+              0.8086242079734802
+            ],
+            "closest_active_finger_button": [
+              0.16997811198234553,
+              -0.39505290985107416,
+              0.7741588950157166
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1417688131332397,
+              0.017188489437103216,
+              0.03446531295776367
+            ],
+            "min_contact_pad_to_button": 0.021186612721105766,
+            "closest_contact_pad": [
+              0.16996230185031885,
+              -0.39677212087417313,
+              0.7901317377620163
+            ],
+            "closest_contact_pad_button": [
+              0.16996230185031885,
+              -0.3950504660606383,
+              0.7690151929855347
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001721654813534812,
+              0.021116544776481616
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a346964c5ab34fe862d601a0f8a3485789e6afa01c090e1ba3531253bae05ab4",
+    "visual_seed": 7632481899426490370,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5299c3a2e7c41ae46c466f9078a45c3292757406
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_100_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23245302462238354,
+              0.19349070420297565,
+              1.044489452546455
+            ],
+            "current_z": 1.044489452546455,
+            "required_z": 0.8565866073604691,
+            "initial_z": 0.7565866073604691,
+            "lift_margin": 0.18790284518598588,
+            "gripper_z": 1.0487031050902762,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22679185128774557,
+              0.18847263048666488,
+              1.0487031050902762
+            ],
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+              0.0056611733346379756,
+              0.0050180737163107725,
+              -0.0042136525438212225
+            ],
+            "object_to_gripper_xy": 0.007565047742555566,
+            "object_to_gripper_z": -0.0042136525438212225,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23245302462238354,
+              0.16845456654330213,
+              1.044489452546455
+            ],
+            "finger_b": [
+              0.22061265648282663,
+              0.19349070420297565,
+              1.044489452546455
+            ],
+            "finger_midpoint": [
+              0.22653284055260509,
+              0.1809726353731389,
+              1.044489452546455
+            ],
+            "object_minus_finger_midpoint": [
+              0.005920184069778456,
+              0.012518068829836748,
+              0.0
+            ],
+            "finger_gap": 0.027694810102153748,
+            "fingertip_max_gap": 0.09334027849337068,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013847405051076862,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.044489452546455,
+            "object_top_z": 1.0909685761199357,
+            "finger_top_clearance": 0.04647912357348072,
+            "fingertip_min_top_clearance": 0.013943737072044216,
+            "object_projection_between_fingers": 0.8172179145766748,
+            "object_to_finger_line_xy": 0.010703705336477699,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04917013924668534,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0737994512512303,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
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+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f9f8ffc92bda57b1311245ca95c7e1aa8b5202b1bc5618715baee69ce4f1468f",
+    "visual_seed": 7020130663842284050,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      3555770340888182057,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7df3efc61dbce4800560da8fd4389cb06bf7b2c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_11_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+            "stable_success_frames": 213,
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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": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
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+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "wheel",
+                "workbench"
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+            },
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
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+          "metrics": {
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+          "safety": {
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+              "allowed_objects": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
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+                "workbench"
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+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15327068339543223,
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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
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008087754249572754,
+            "max_z_decrease": 0.008087754249572754,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505488995370379,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008087754249572754,
+            "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": 0.021168709555808785,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008087754249572754,
+            "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": 0.008087760367403656,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1737929582595825,
+              -0.39504662156105036,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1737929582595825,
+              -0.39504662156105036,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17428509283072102,
+              -0.39594529115134897,
+              0.8037608730796642
+            ],
+            "closest_button": [
+              0.1737982332706451,
+              -0.3950381875038147,
+              0.7687211036682129
+            ],
+            "closest_ee_minus_button": [
+              0.00048685956007590847,
+              -0.0009071036475342686,
+              0.03503976941145126
+            ],
+            "button_min_z_position": [
+              0.1737982332706451,
+              -0.3950381875038147,
+              0.7687211036682129
+            ],
+            "min_active_finger_to_button": 0.14523241168953538,
+            "closest_active_finger": [
+              0.033555321395397186,
+              -0.3797672986984253,
+              0.8095473051071167
+            ],
+            "closest_active_finger_button": [
+              0.17379780113697052,
+              -0.3950519561767578,
+              0.7750381827354431
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14024247974157333,
+              0.01528465747833252,
+              0.034509122371673584
+            ],
+            "min_contact_pad_to_button": 0.021168709555808785,
+            "closest_contact_pad": [
+              0.1737982332706451,
+              -0.397130258022682,
+              0.7897861815271309
+            ],
+            "closest_contact_pad_button": [
+              0.1737982332706451,
+              -0.3950381875038147,
+              0.7687211036682129
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002092070518867284,
+              0.02106507785891798
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1795ee6bc2a4513d3ab82506ac5ba39a30193c90880e56bd95e4a322f1195aad",
+    "visual_seed": 5898412125243983869,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..af7d56390842ecc28be3d521a09a90c7e45113ec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_12_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23495120612126802,
+              0.19203364490655717,
+              1.0468424840341133
+            ],
+            "current_z": 1.0468424840341133,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.19025597662554794,
+            "gripper_z": 1.0510414160003507,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2297375756320313,
+              0.18724040910039175,
+              1.0510414160003507
+            ],
+            "object_minus_gripper": [
+              0.005213630489236731,
+              0.004793235806165419,
+              -0.00419893196623744
+            ],
+            "object_to_gripper_xy": 0.007082164384692372,
+            "object_to_gripper_z": -0.00419893196623744,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23495120612126802,
+              0.16728920732700797,
+              1.0468424840341133
+            ],
+            "finger_b": [
+              0.22346903203041552,
+              0.19203364490655717,
+              1.0468424840341133
+            ],
+            "finger_midpoint": [
+              0.22921011907584177,
+              0.17966142611678257,
+              1.0468424840341133
+            ],
+            "object_minus_finger_midpoint": [
+              0.005741087045426252,
+              0.012372218789774597,
+              0.0
+            ],
+            "finger_gap": 0.02727870072017454,
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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": 1.0468424840341133,
+            "object_top_z": 1.0935821203112104,
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+            "object_projection_between_fingers": 0.822825631961229,
+            "object_to_finger_line_xy": 0.010415449877291634,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049062952888157596,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9243123885557918,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23400784925168366,
+              0.19207365956931638,
+              1.240612550206359
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+            "held_position": [
+              0.23937848662099934,
+              0.19657971500602706,
+              1.23629472623596
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00823358276758978,
+            "max_held_gripper_dist": 0.00823477448583339,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004317823970398926,
+            "max_held_gripper_z_dist": 0.004344727202535648,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08633363938044103,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23937848662099934,
+              0.17137075095276516,
+              1.23629472623596
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+            "held_grasp_finger_b": [
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+              0.19657971500602706,
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+            "held_grasp_midpoint": [
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+              0.1839752329793961,
+              1.23629472623596
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+            "held_grasp_object_position": [
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+              0.19657971500602706,
+              1.23629472623596
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+            "held_grasp_finger_gap": 0.027204643125040465,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024758164406763268,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0410314711665596,
+              -0.9987642365716093,
+              0.028043147459556828
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+                "/World/target_beaker"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint3",
+                "joint4",
+                "joint5",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
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+                "floor",
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+                "workbench"
+              ],
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+            },
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+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.327542957746625,
+              -0.3329568792293189,
+              0.8470193005518409
+            ],
+            "target_position": [
+              0.31977678782716384,
+              -0.3356306991751008,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008213568549686832,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18937389715925437,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193005518409,
+            "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": 0.07550909676168355,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08565145882686469,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15787348849964655,
+            "release_required_pad_clearance": 0.052825729413432346,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6954844191825946,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007794618606567383,
+            "max_z_decrease": 0.007794618606567383,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035113269366291104,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007794618606567383,
+            "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": 0.02114121253382617,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007794618606567383,
+            "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": 0.007794638502541149,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17547671496868134,
+              -0.3918921649456024,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17547671496868134,
+              -0.3918921649456024,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1736258829880764,
+              -0.38998353499061966,
+              0.80410006554674
+            ],
+            "closest_button": [
+              0.17545877397060397,
+              -0.3918956220149994,
+              0.7690868377685547
+            ],
+            "closest_ee_minus_button": [
+              -0.001832890982527563,
+              0.0019120870243797272,
+              0.035013227778185274
+            ],
+            "button_min_z_position": [
+              0.17545948922634125,
+              -0.3918958306312561,
+              0.7690142393112183
+            ],
+            "min_active_finger_to_button": 0.14670279439500533,
+            "closest_active_finger": [
+              0.04588765650987625,
+              -0.4512779712677002,
+              0.809852123260498
+            ],
+            "closest_active_finger_button": [
+              0.17548269033432007,
+              -0.39189597964286804,
+              0.775202214717865
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12959503382444382,
+              -0.05938199162483215,
+              0.03464990854263306
+            ],
+            "min_contact_pad_to_button": 0.02114121253382617,
+            "closest_contact_pad": [
+              0.17545948922634125,
+              -0.3918958306312561,
+              0.7901554518450444
+            ],
+            "closest_contact_pad_button": [
+              0.17545948922634125,
+              -0.3918958306312561,
+              0.7690142393112183
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02114121253382617
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d7b064ef23b70d2fe80280b3014f970d9fb5b704812d9c15d4baaf0626fd233d",
+    "visual_seed": 2321339579595351965,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..570c3e3636828e5c3bfbfa70f2ded4aa1c5802e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_13_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2390976634977017,
+              0.188999018042564,
+              1.0440075888073577
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+            "current_z": 1.0440075888073577,
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+            "initial_z": 0.7565866724286339,
+            "lift_margin": 0.18742091637872382,
+            "gripper_z": 1.0480971861816253,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23402730533265503,
+              0.18421894537066785,
+              1.0480971861816253
+            ],
+            "object_minus_gripper": [
+              0.005070358165046668,
+              0.004780072671896146,
+              -0.004089597374267617
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+            "object_to_gripper_xy": 0.006968330264163989,
+            "object_to_gripper_z": -0.004089597374267617,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2390976634977017,
+              0.164467062261499,
+              1.0440075888073577
+            ],
+            "finger_b": [
+              0.22748089369768432,
+              0.188999018042564,
+              1.0440075888073577
+            ],
+            "finger_midpoint": [
+              0.233289278597693,
+              0.1767330401520315,
+              1.0440075888073577
+            ],
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+              0.17032101750373846,
+              -0.3943502604961395,
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+            "closest_active_finger_minus_button": [
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+              -0.06471696496009827,
+              0.03418552875518799
+            ],
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+            "closest_contact_pad": [
+              0.17033416032791143,
+              -0.39548733146728365,
+              0.789650959490098
+            ],
+            "closest_contact_pad_button": [
+              0.17033416032791143,
+              -0.3943360447883606,
+              0.7686957716941833
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001151286678923058,
+              0.020955187795914654
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f9c8fb8aaf00e5ee4212a5ca317292c57446c8ca5d7afd6f2b4a0eab6c14d631",
+    "visual_seed": 7119464034663180663,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..357f8c620d0cb2690734a940598f4205ff1fbaa4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+            "active_arm": null,
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+              0.18504102022219743,
+              1.0434015527036402
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+            "gripper_position": [
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+              0.18019639580919172,
+              1.0477188996710363
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+              0.004844624413005705,
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+              0.16040373971751676,
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+              0.18504102022219743,
+              1.0434015527036402
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+              0.1727223799698571,
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+              0.012318640252340335,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 0.609706788497067,
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+              0.0,
+              1.0
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+            "stable_success_frames": 212,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "max_held_gripper_z_dist": 0.004467776293438419,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.18945273626119627,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9980548008361789,
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+            "held_grasp_object_to_finger_line_xy": 0.004341615670706766,
+            "held_grasp_line_xy_max_dist": 0.047482802867889404,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3282412422536016,
+              -0.3362969858636974,
+              0.8470195626412746
+            ],
+            "target_position": [
+              0.3199959183029297,
+              -0.33907641862905147,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008701184606054891,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18879132153386496,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195626412746,
+            "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": 0.07552187532767926,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504930373911533,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15730185635736177,
+            "release_required_pad_clearance": 0.05252465186955767,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11869274618334894,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008077621459960938,
+            "max_z_decrease": 0.008077621459960938,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035013330438251083,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008077621459960938,
+            "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": 0.021129525042826672,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008077621459960938,
+            "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": 0.008077623421909355,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17569585144519806,
+              -0.39533787965774536,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17569585144519806,
+              -0.39533787965774536,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.175483617755468,
+              -0.395054590467958,
+              0.8037428191298103
+            ],
+            "closest_button": [
+              0.1756964027881622,
+              -0.3953322768211365,
+              0.7687312364578247
+            ],
+            "closest_ee_minus_button": [
+              -0.00021278503269420157,
+              0.00027768635317848567,
+              0.035011582671985564
+            ],
+            "button_min_z_position": [
+              0.1756964027881622,
+              -0.3953322768211365,
+              0.7687312364578247
+            ],
+            "min_active_finger_to_button": 0.14591335316473195,
+            "closest_active_finger": [
+              0.048124536871910095,
+              -0.45712998509407043,
+              0.8108241558074951
+            ],
+            "closest_active_finger_button": [
+              0.1757006198167801,
+              -0.3953397870063782,
+              0.7762261629104614
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12757608294487,
+              -0.06179019808769226,
+              0.03459799289703369
+            ],
+            "min_contact_pad_to_button": 0.021129525042826672,
+            "closest_contact_pad": [
+              0.1756964027881622,
+              -0.3963232832436146,
+              0.789837508862161
+            ],
+            "closest_contact_pad_button": [
+              0.1756964027881622,
+              -0.3953322768211365,
+              0.7687312364578247
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009910064224781245,
+              0.021106272404336268
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bf3e4a6f7ef64e134bb05e082910ef144f0742838d84240c9826f78ac5f6cfcd",
+    "visual_seed": 7550837370620371780,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6f4b98fca3a3f37367d37ad1c386908ea8158a9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_15_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23667956390160258,
+              0.18471721954805417,
+              1.0435387513613583
+            ],
+            "current_z": 1.0435387513613583,
+            "required_z": 0.8565866847491101,
+            "initial_z": 0.7565866847491102,
+            "lift_margin": 0.18695206661224817,
+            "gripper_z": 1.047781804245142,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2316127170222038,
+              0.17990013292346319,
+              1.047781804245142
+            ],
+            "object_minus_gripper": [
+              0.00506684687939879,
+              0.004817086624590988,
+              -0.004243052883783571
+            ],
+            "object_to_gripper_xy": 0.006991227420709947,
+            "object_to_gripper_z": -0.004243052883783571,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23667956390160258,
+              0.1602562161430757,
+              1.0435387513613583
+            ],
+            "finger_b": [
+              0.2249185892126647,
+              0.18471721954805417,
+              1.0435387513613583
+            ],
+            "finger_midpoint": [
+              0.23079907655713364,
+              0.17248671784556494,
+              1.0435387513613583
+            ],
+            "object_minus_finger_midpoint": [
+              0.005880487344468943,
+              0.012230501702489238,
+              0.0
+            ],
+            "finger_gap": 0.02714150351790052,
+            "fingertip_max_gap": 0.09232412954725025,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01357075175895026,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0435387513613583,
+            "object_top_z": 1.090011412012654,
+            "finger_top_clearance": 0.04647266065129574,
+            "fingertip_min_top_clearance": 0.013941798195388738,
+            "object_projection_between_fingers": 0.8122331905725131,
+            "object_to_finger_line_xy": 0.010599458564343708,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866206477362513,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.839898281062632,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
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+  "reproducibility": {
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+    "action_seed": 2714716839106178401,
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+    "layout_id": "layout_00022",
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+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e0496f36a0b3d198e57c5388cc27e06085961548569749db1c3f59e180f3511",
+    "visual_seed": 8274096377171220002,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      3555770340888182057,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..787a2a7507bbfe9b74c6d961c4301eb740c7183f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_16_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              1.0438325814664495
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+              1.0479049803303793
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+            "stable_success_frames": 213,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
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+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "desk",
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+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+            "release_required_pad_clearance": 0.05264177008852593,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.3426401258029007,
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+            "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",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007960140705108643,
+            "max_z_decrease": 0.007960140705108643,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035242244705847546,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007960140705108643,
+            "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": 0.021231941140252106,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007960140705108643,
+            "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": 0.007960162811026843,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17125052213668823,
+              -0.3920926749706268,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17125052213668823,
+              -0.3920926749706268,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17319051755213657,
+              -0.3936571561623312,
+              0.8041520837791345
+            ],
+            "closest_button": [
+              0.17123042047023773,
+              -0.39209461212158203,
+              0.7689990997314453
+            ],
+            "closest_ee_minus_button": [
+              0.001960097081898843,
+              -0.0015625440407491809,
+              0.035152984047689184
+            ],
+            "button_min_z_position": [
+              0.17123191058635712,
+              -0.3920950293540954,
+              0.768848717212677
+            ],
+            "min_active_finger_to_button": 0.1437260947779015,
+            "closest_active_finger": [
+              0.0322112962603569,
+              -0.37995532155036926,
+              0.8107401132583618
+            ],
+            "closest_active_finger_button": [
+              0.1712525486946106,
+              -0.39209491014480585,
+              0.7764275670051575
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1390412524342537,
+              0.01213958859443659,
+              0.034312546253204346
+            ],
+            "min_contact_pad_to_button": 0.021231941140252106,
+            "closest_contact_pad": [
+              0.17123191058635712,
+              -0.3946161786213733,
+              0.7899304422596278
+            ],
+            "closest_contact_pad_button": [
+              0.17123191058635712,
+              -0.3920950293540954,
+              0.768848717212677
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025211492672779223,
+              0.021081725046950828
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a797d5d6777cfe37b18ebb9e4c900c426fdc21157fadc3c20d3f153aa16cc519",
+    "visual_seed": 7239106290966488513,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa71c28be589e1c050ba7b8c05ff2df6a50c6cb7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_17_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23576312885364206,
+              0.19227883214438066,
+              1.0446597893839447
+            ],
+            "current_z": 1.0446597893839447,
+            "required_z": 0.8565866191828233,
+            "initial_z": 0.7565866191828233,
+            "lift_margin": 0.18807317020112135,
+            "gripper_z": 1.0486596163138855,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23079521454182622,
+              0.18762579104469101,
+              1.0486596163138855
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+              0.004967914311815841,
+              0.004653041099689642,
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+            "object_to_gripper_xy": 0.006806685249440116,
+            "object_to_gripper_z": -0.003999826929940831,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23576312885364206,
+              0.16768764331616984,
+              1.0446597893839447
+            ],
+            "finger_b": [
+              0.2245058804075319,
+              0.19227883214438066,
+              1.0446597893839447
+            ],
+            "finger_midpoint": [
+              0.230134504630587,
+              0.17998323773027525,
+              1.0446597893839447
+            ],
+            "object_minus_finger_midpoint": [
+              0.005628624223055073,
+              0.01229559441410541,
+              0.0
+            ],
+            "finger_gap": 0.02704537318215762,
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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": 0.010235729429942116,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049734390163698725,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3973295425066228,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23503666970820716,
+              0.19245922812368474,
+              1.236986432725503
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+            "held_position": [
+              0.2401607513856846,
+              0.19683128608936892,
+              1.2328571178562377
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007900781302016708,
+            "max_held_gripper_dist": 0.007907037270446296,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004129314869265155,
+            "max_held_gripper_z_dist": 0.00415465398067294,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0865107741544704,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2401607513856846,
+              0.17172200701345547,
+              1.2328571178562377
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+              0.19683128608936892,
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+              0.18427664655141218,
+              1.2328571178562377
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+            "held_grasp_object_position": [
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+              0.19683128608936892,
+              1.2328571178562377
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+            "held_grasp_finger_gap": 0.026989745730046193,
+            "held_grasp_max_gap": 0.12496556103229522,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0246803735851918,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.039759836788771326,
+              -0.9985916570633534,
+              0.03512631238823915
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004468077755932777,
+            "held_grasp_line_xy_max_dist": 0.04748278051614761,
+            "held_grasp_object_top_z": 0.045200541615486145,
+            "held_grasp_top_clearance": 0.032466811807999436,
+            "held_grasp_min_top_clearance": 0.013560162484645843
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+                "beaker_b"
+              ],
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+              ],
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3277258348504468,
+              -0.33202766917741233,
+              0.8470196512687311
+            ],
+            "target_position": [
+              0.321778386846603,
+              -0.3336183899567749,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00615650309480324,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18728463143172375,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196512687311,
+            "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": 0.07589795849842351,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08676179363019408,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15470431109298846,
+            "release_required_pad_clearance": 0.05338089681509704,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.777348580866168,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007860541343688965,
+            "max_z_decrease": 0.007860541343688965,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504818134010553,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007860541343688965,
+            "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": 0.021205540184191577,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007860541343688965,
+            "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": 0.007860568982617607,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17747831344604487,
+              -0.3898798525333404,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17747831344604487,
+              -0.3898798525333404,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1760346415714549,
+              -0.3899616889933865,
+              0.8071036450184196
+            ],
+            "closest_button": [
+              0.17746551334857935,
+              -0.38988298177719116,
+              0.7720847725868225
+            ],
+            "closest_ee_minus_button": [
+              -0.0014308717771244484,
+              -7.87072161953506e-05,
+              0.03501887243159707
+            ],
+            "button_min_z_position": [
+              0.17745780944824213,
+              -0.3898836076259613,
+              0.7689483165740967
+            ],
+            "min_active_finger_to_button": 0.14749413135356665,
+            "closest_active_finger": [
+              0.04820885509252548,
+              -0.4518686830997467,
+              0.809279203414917
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+            "closest_active_finger_button": [
+              0.17748492956161493,
+              -0.38988381624221796,
+              0.7746368646621704
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12927607446908945,
+              -0.06198486685752874,
+              0.03464233875274658
+            ],
+            "min_contact_pad_to_button": 0.021205540184191577,
+            "closest_contact_pad": [
+              0.17745780944824213,
+              -0.3913307263582718,
+              0.7901044216475255
+            ],
+            "closest_contact_pad_button": [
+              0.17745780944824213,
+              -0.3898836076259613,
+              0.7689483165740967
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001447118732310515,
+              0.0211561050734288
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b2abb3472b9142413b565bcf6f084b3b41e66d963bd2a81b4eecba97047c580",
+    "visual_seed": 4154350426148584613,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aba5112feca50ab64a19c36d7f7de204cc9b570
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23259626322303445,
+              0.1847606214073547,
+              1.045610136873911
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+            "current_z": 1.045610136873911,
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18902368906999023,
+            "gripper_z": 1.0494625197486784,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22767084306616145,
+              0.17988856746227905,
+              1.0494625197486784
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+              0.0049254201568730005,
+              0.004872053945075644,
+              -0.0038523828747674127
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+            "object_to_gripper_xy": 0.00692796314694716,
+            "object_to_gripper_z": -0.0038523828747674127,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23259626322303445,
+              0.1605484069562915,
+              1.045610136873911
+            ],
+            "finger_b": [
+              0.22057234556465977,
+              0.1847606214073547,
+              1.045610136873911
+            ],
+            "finger_midpoint": [
+              0.2265843043938471,
+              0.1726545141818231,
+              1.045610136873911
+            ],
+            "object_minus_finger_midpoint": [
+              0.006011958829187342,
+              0.012106107225531598,
+              0.0
+            ],
+            "finger_gap": 0.027033422359731815,
+            "fingertip_max_gap": 0.0916300007379593,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013516711179865908,
+            "object_to_finger_midpoint_z": 0.0,
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+            "closest_contact_pad": [
+              0.1704428791999817,
+              -0.3916399180889129,
+              0.7898133313693732
+            ],
+            "closest_contact_pad_button": [
+              0.1704428791999817,
+              -0.3916399180889129,
+              0.768762469291687
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105086207768614
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f8c672a63171803a28e199edee386e9829dfb5c888e0c64f78e5ed7f8ecc31a1",
+    "visual_seed": 1894879846760571597,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..206e9e9800a609fd76598f2729bc8fd414889037
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_19_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.19489205078315142,
+              1.0460802801272762
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+            "gripper_position": [
+              0.22700817704771803,
+              0.19013265112891908,
+              1.0502255804981566
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+              0.0047593996542323325,
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+            "object_to_gripper_z": -0.004145300370880456,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.17032170498324664,
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+              1.0460802801272762
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+              0.18260687788319901,
+              1.0460802801272762
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+              0.012285172899952401,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048612067620033464,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.19910601098458935,
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+            "min_shake_count": 3,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004248615067588668,
+            "max_held_gripper_z_dist": 0.004274128594845106,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08621918302919562,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.1865103429515649,
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+              0.19910601098458935,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_object": null,
+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
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+              0.3163118507208459,
+              -0.337091618157106,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008982412017494437,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18785733108903951,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194278560407,
+            "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": 0.075239752000936,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08602319019059544,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1571727166728967,
+            "release_required_pad_clearance": 0.05301159509529772,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0542368159470719,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008114755153656006,
+            "max_z_decrease": 0.008114755153656006,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503994472147404,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008114755153656006,
+            "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": 0.02100018714270984,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008114755153656006,
+            "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": 0.008114779861826635,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17201177775859833,
+              -0.3933530747890472,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17201177775859833,
+              -0.3933530747890472,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17106009621799412,
+              -0.3934238161509756,
+              0.8037205658371842
+            ],
+            "closest_button": [
+              0.1720285713672638,
+              -0.3933421671390533,
+              0.7686941027641296
+            ],
+            "closest_ee_minus_button": [
+              -0.0009684751492696764,
+              -8.164901192231344e-05,
+              0.03502646307305457
+            ],
+            "button_min_z_position": [
+              0.1720285713672638,
+              -0.3933421671390533,
+              0.7686941027641296
+            ],
+            "min_active_finger_to_button": 0.14658369596568052,
+            "closest_active_finger": [
+              0.044806696474552155,
+              -0.4576406478881836,
+              0.8107723593711853
+            ],
+            "closest_active_finger_button": [
+              0.17201317846775055,
+              -0.39335602521896357,
+              0.7765265107154846
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1272064819931984,
+              -0.06428462266922003,
+              0.034245848655700684
+            ],
+            "min_contact_pad_to_button": 0.02100018714270984,
+            "closest_contact_pad": [
+              0.1720285713672638,
+              -0.3944754114088175,
+              0.7896636906822048
+            ],
+            "closest_contact_pad_button": [
+              0.1720285713672638,
+              -0.3933421671390533,
+              0.7686941027641296
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011332442697641887,
+              0.020969587918075128
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8cff6ed038fc5126a854d221e33888b8b5e6e2ee946a9745c23727e883d9a301",
+    "visual_seed": 7771384448818223881,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e31b3992a3a6fa91dbf51c1eab8de9994bc09f4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_1_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23681074919931117,
+              0.18487799717489817,
+              1.0450051589686593
+            ],
+            "current_z": 1.0450051589686593,
+            "required_z": 0.856586667965796,
+            "initial_z": 0.756586667965796,
+            "lift_margin": 0.18841849100286334,
+            "gripper_z": 1.048814513006087,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23190991839991795,
+              0.18005324814465296,
+              1.048814513006087
+            ],
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+              0.004900830799393213,
+              0.004824749030245212,
+              -0.00380935403742777
+            ],
+            "object_to_gripper_xy": 0.0068772338719235975,
+            "object_to_gripper_z": -0.00380935403742777,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23681074919931117,
+              0.16064746466032345,
+              1.0450051589686593
+            ],
+            "finger_b": [
+              0.22489740843691858,
+              0.18487799717489817,
+              1.0450051589686593
+            ],
+            "finger_midpoint": [
+              0.23085407881811487,
+              0.1727627309176108,
+              1.0450051589686593
+            ],
+            "object_minus_finger_midpoint": [
+              0.005956670381196294,
+              0.012115266257287371,
+              0.0
+            ],
+            "finger_gap": 0.02700085913560432,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013500429567802173,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0450051589686593,
+            "object_top_z": 1.0910548232482704,
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+            "fingertip_min_top_clearance": 0.013814899283883348,
+            "object_projection_between_fingers": 0.8053242025787198,
+            "object_to_finger_line_xy": 0.010691015024766963,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048265992700819604,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5351519733063856,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "18fad546270d54dfd1ee8078bfe724ff6778c5296c5ebaa39b5f17d81e7c2d2b",
+    "visual_seed": 1588541357517948479,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      3555770340888182057,
+      838946150517897658,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2171162e8b7c120e62cbb4191b0b0df1f7a4134
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_20_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              1.047258165731444
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+              0.16259325248825252,
+              1.047258165731444
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+              1.047258165731444
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+              0.17480076887755214,
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
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+          }
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+              0.1866478532178693,
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+              0.19113097103227264,
+              1.237159063303119
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+              0.17850046392664803,
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+              0.19113097103227264,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+                "beaker_b"
+              ],
+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_min_pad_clearance": 0.1548063045208229,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+                "wheel",
+                "workbench"
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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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008069097995758057,
+            "max_z_decrease": 0.008069097995758057,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510385550038414,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008069097995758057,
+            "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": 0.02112685767306427,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008069097995758057,
+            "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": 0.008069100731366737,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17151875793933863,
+              -0.38785886764526367,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17151875793933863,
+              -0.38785886764526367,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17180528940866785,
+              -0.3885647049096095,
+              0.8038352050307029
+            ],
+            "closest_button": [
+              0.17151699960231775,
+              -0.3878524601459503,
+              0.7687397599220276
+            ],
+            "closest_ee_minus_button": [
+              0.00028828980635009493,
+              -0.0007122447636591644,
+              0.03509544510867535
+            ],
+            "button_min_z_position": [
+              0.17151699960231775,
+              -0.3878524601459503,
+              0.7687397599220276
+            ],
+            "min_active_finger_to_button": 0.14539014088626784,
+            "closest_active_finger": [
+              0.03094567358493805,
+              -0.3738250434398651,
+              0.8109062910079956
+            ],
+            "closest_active_finger_button": [
+              0.17152139544486994,
+              -0.3878616690635681,
+              0.776559054851532
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1405757218599319,
+              0.014036625623703003,
+              0.03434723615646362
+            ],
+            "min_contact_pad_to_button": 0.02112685767306427,
+            "closest_contact_pad": [
+              0.17151699960231775,
+              -0.38961861374351,
+              0.7897926651041572
+            ],
+            "closest_contact_pad_button": [
+              0.17151699960231775,
+              -0.3878524601459503,
+              0.7687397599220276
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001766153597559661,
+              0.021052905182129655
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fdff63b062adeb949ee38fa3610818c51b092b9f608b2f5c83313808856c8aaf",
+    "visual_seed": 4553065705119313550,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c91366fb4c870cdc5d9fd69520d0f732a138232
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_21_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23576981621937892,
+              0.1865864617611316,
+              1.0473270814587183
+            ],
+            "current_z": 1.0473270814587183,
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+            "initial_z": 0.7565866394473653,
+            "lift_margin": 0.1907404420113531,
+            "gripper_z": 1.0513375493222794,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23069066482570807,
+              0.1816774088821954,
+              1.0513375493222794
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+            "object_minus_gripper": [
+              0.00507915139367085,
+              0.004909052878936199,
+              -0.0040104678635610735
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+            "object_to_gripper_xy": 0.007063751060733973,
+            "object_to_gripper_z": -0.0040104678635610735,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23576981621937892,
+              0.16223227268417964,
+              1.0473270814587183
+            ],
+            "finger_b": [
+              0.2237331320776525,
+              0.1865864617611316,
+              1.0473270814587183
+            ],
+            "finger_midpoint": [
+              0.2297514741485157,
+              0.17440936722265563,
+              1.0473270814587183
+            ],
+            "object_minus_finger_midpoint": [
+              0.006018342070863214,
+              0.012177094538475985,
+              0.0
+            ],
+            "finger_gap": 0.02716630800686054,
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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": 0.8036854504904921,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048398218268258825,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5843797719868152,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23523925395740616,
+              0.18620010988424546,
+              1.2436674631372433
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+              0.19065491917406738,
+              1.2395499872231839
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008122838991160267,
+            "max_held_gripper_dist": 0.008128179737939759,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004117475914059421,
+            "max_held_gripper_z_dist": 0.004140293179617727,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08649925627267713,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.1653983112610463,
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+              0.17802661521755683,
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+            "held_grasp_object_position": [
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+              0.19065491917406738,
+              1.2395499872231839
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+            "held_grasp_finger_gap": 0.027214206418008962,
+            "held_grasp_max_gap": 0.12496566534042358,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02444209436605314,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07297852238305427,
+              -0.9970351759955078,
+              0.024392480365737268
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004144158416190584,
+            "held_grasp_line_xy_max_dist": 0.04748283267021179,
+            "held_grasp_object_top_z": 0.045200519263744354,
+            "held_grasp_top_clearance": 0.0322398399311624,
+            "held_grasp_min_top_clearance": 0.013560155779123307
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3284195575595894,
+              -0.3368199232284981,
+              0.8470195610065273
+            ],
+            "target_position": [
+              0.32100860561303335,
+              -0.33906845740812047,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00774455387424564,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1880084093051849,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195610065273,
+            "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": 0.07571128806719775,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08505520159344242,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15594466396840223,
+            "release_required_pad_clearance": 0.05252760079672121,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1251145136613767,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008108258247375488,
+            "max_z_decrease": 0.008108258247375488,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503350783630813,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008108258247375488,
+            "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": 0.021094615357063473,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008108258247375488,
+            "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": 0.008108266106166693,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1767085343599319,
+              -0.39532992243766785,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1767085343599319,
+              -0.39532992243766785,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17619394472095828,
+              -0.39380565509350185,
+              0.8036974188235996
+            ],
+            "closest_button": [
+              0.1767157614231109,
+              -0.395321249961853,
+              0.7687005996704102
+            ],
+            "closest_ee_minus_button": [
+              -0.0005218167021526221,
+              0.0015155948683511777,
+              0.03499681915318942
+            ],
+            "button_min_z_position": [
+              0.1767157614231109,
+              -0.395321249961853,
+              0.7687005996704102
+            ],
+            "min_active_finger_to_button": 0.14565420576654162,
+            "closest_active_finger": [
+              0.04893655329942703,
+              -0.45608991384506226,
+              0.8107530474662781
+            ],
+            "closest_active_finger_button": [
+              0.17671182751655573,
+              -0.3953325152397156,
+              0.7761529684066772
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1277752742171287,
+              -0.06075739860534668,
+              0.03460007905960083
+            ],
+            "min_contact_pad_to_button": 0.021094615357063473,
+            "closest_contact_pad": [
+              0.1767157614231109,
+              -0.395321249961853,
+              0.7897952150274736
+            ],
+            "closest_contact_pad_button": [
+              0.1767157614231109,
+              -0.395321249961853,
+              0.7687005996704102
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021094615357063473
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b7426ccbec7087937e0c85fe4ca0761252d153e6d34babf343de2ef6d0d2fb09",
+    "visual_seed": 8732887228243611912,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..72b4737478019bf32c8d8a18f0bc379ae93df7b4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_22_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23368635954393638,
+              0.19289886993258085,
+              1.0461125793812383
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18952607197267268,
+            "gripper_z": 1.0504434971709753,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.22852656142211716,
+              0.1880060883804618,
+              1.0504434971709753
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+            "object_minus_gripper": [
+              0.005159798121819215,
+              0.004892781552119058,
+              -0.004330917789737043
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+            "object_to_gripper_xy": 0.007110754388578308,
+            "object_to_gripper_z": -0.004330917789737043,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23368635954393638,
+              0.16838695040876836,
+              1.0461125793812383
+            ],
+            "finger_b": [
+              0.22180458673693054,
+              0.19289886993258085,
+              1.0461125793812383
+            ],
+            "finger_midpoint": [
+              0.22774547314043347,
+              0.1806429101706746,
+              1.0461125793812383
+            ],
+            "object_minus_finger_midpoint": [
+              0.005940886403502904,
+              0.012255959761906243,
+              0.0
+            ],
+            "finger_gap": 0.027239873784200307,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013619936892100146,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461125793812383,
+            "object_top_z": 1.092571306152491,
+            "finger_top_clearance": 0.046458726771252845,
+            "fingertip_min_top_clearance": 0.013937618031375854,
+            "object_projection_between_fingers": 0.8097378912284827,
+            "object_to_finger_line_xy": 0.010691865210274182,
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+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7c35064e0060078bda440522ffca4f2e982e375ce91abacdcf6c26446de3d4a9",
+    "visual_seed": 5907170678241769245,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d276f8e162db004e9fc2aa140a9350d0801363c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              0.1862908611318666,
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+              0.2294230204414559,
+              0.1814856427215204,
+              1.0502394497520209
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+              0.0048052184103462015,
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+              0.16179186006912397,
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+              0.1740413606004953,
+              1.0460249289757833
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+            "stable_success_frames": 216,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
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+          "metrics": {
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562627083705736,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08508472837352797,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15409675213515567,
+            "release_required_pad_clearance": 0.05254236418676399,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1532333593715495,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007627010345458984,
+            "max_z_decrease": 0.007627010345458984,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507422504457744,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007627010345458984,
+            "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": 0.02119158838483559,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007627010345458984,
+            "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": 0.00762702653701898,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17743365466594685,
+              -0.3879048526287079,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17743365466594685,
+              -0.3879048526287079,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1759495999264455,
+              -0.3860866633389606,
+              0.8074366732856382
+            ],
+            "closest_button": [
+              0.17742350697517387,
+              -0.3879079520702362,
+              0.7724407911300659
+            ],
+            "closest_ee_minus_button": [
+              -0.001473907048728379,
+              0.0018212887312756276,
+              0.034995882155572255
+            ],
+            "button_min_z_position": [
+              0.17741835117340077,
+              -0.3879084289073944,
+              0.7691818475723267
+            ],
+            "min_active_finger_to_button": 0.14682506658797376,
+            "closest_active_finger": [
+              0.04766235500574112,
+              -0.44708967208862305,
+              0.8079569339752197
+            ],
+            "closest_active_finger_button": [
+              0.17744594812393177,
+              -0.3879111707210541,
+              0.7731471061706543
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12978359311819065,
+              -0.05917850136756897,
+              0.03480982780456543
+            ],
+            "min_contact_pad_to_button": 0.02119158838483559,
+            "closest_contact_pad": [
+              0.17741835117340077,
+              -0.3879084289073944,
+              0.7903734359571623
+            ],
+            "closest_contact_pad_button": [
+              0.17741835117340077,
+              -0.3879084289073944,
+              0.7691818475723267
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02119158838483559
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29a6aa4e943709896b435169e31eec5e6b03fbabf3e195476a06a2ad39a771a2",
+    "visual_seed": 5625569490887920090,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3863809d5c63ad86f949d01fa55f7eae578f7da3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_24_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23083042605607482,
+              0.18940655819884838,
+              1.0458097235834078
+            ],
+            "current_z": 1.0458097235834078,
+            "required_z": 0.8565865641397516,
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+            "lift_margin": 0.1892231594436562,
+            "gripper_z": 1.0500141126565217,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2257422397953074,
+              0.18463225784381,
+              1.0500141126565217
+            ],
+            "object_minus_gripper": [
+              0.00508818626076743,
+              0.004774300355038397,
+              -0.004204389073113823
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+            "object_to_gripper_xy": 0.006977362202464639,
+            "object_to_gripper_z": -0.004204389073113823,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23083042605607482,
+              0.164835546786953,
+              1.0458097235834078
+            ],
+            "finger_b": [
+              0.21925723386449317,
+              0.18940655819884838,
+              1.0458097235834078
+            ],
+            "finger_midpoint": [
+              0.225043829960284,
+              0.1771210524929007,
+              1.0458097235834078
+            ],
+            "object_minus_finger_midpoint": [
+              0.005786596095790825,
+              0.012285505705947691,
+              0.0
+            ],
+            "finger_gap": 0.027160143212192008,
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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": 1.0922265032335974,
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+            "object_projection_between_fingers": 0.8184307835140344,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8048160970821442,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
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+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..231dff83820008863b02e0a0f4320999c096e371
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+              0.004798666747811958,
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+              0.16347985982044672,
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+              0.17579845894036555,
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+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "dummy_base_prismatic_x_joint",
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+              0.18829274430487325,
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+              0.19276750153915628,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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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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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_min_pad_clearance": 0.155730241606039,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+              ],
+              "ignored_prim_substrings": [
+                "base_link",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+            },
+            "status": "active",
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+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007941484451293945,
+            "max_z_decrease": 0.007941484451293945,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507311154936162,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007941484451293945,
+            "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": 0.02126517805014886,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007941484451293945,
+            "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": 0.007941511556931418,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17049199342727656,
+              -0.3957445919513702,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17049199342727656,
+              -0.3957445919513702,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17080711805095333,
+              -0.39654267172254876,
+              0.8071654487617307
+            ],
+            "closest_button": [
+              0.17047925293445582,
+              -0.39574718475341797,
+              0.7721028923988342
+            ],
+            "closest_ee_minus_button": [
+              0.0003278651164975166,
+              -0.0007954869691307875,
+              0.03506255636289646
+            ],
+            "button_min_z_position": [
+              0.17047145962715143,
+              -0.395747572183609,
+              0.7688673734664917
+            ],
+            "min_active_finger_to_button": 0.14578817791655632,
+            "closest_active_finger": [
+              0.02995089441537857,
+              -0.3783283233642578,
+              0.8075804114341736
+            ],
+            "closest_active_finger_button": [
+              0.17049928009510035,
+              -0.39575171470642084,
+              0.7729860544204712
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14054838567972178,
+              0.01742339134216303,
+              0.03459435701370239
+            ],
+            "min_contact_pad_to_button": 0.02126517805014886,
+            "closest_contact_pad": [
+              0.17047145962715143,
+              -0.39798981357406493,
+              0.7900140079753553
+            ],
+            "closest_contact_pad_button": [
+              0.17047145962715143,
+              -0.395747572183609,
+              0.7688673734664917
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022422413904559235,
+              0.02114663450886356
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5b126f0d353fadc3dc60c607f090b3b15d1283aa900da65e5adfecf23744c888",
+    "visual_seed": 5548651953475697936,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e2fee5540e0e4c646b1351f738d1060bf94f21f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_26_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23354297456382014,
+              0.19268048747941927,
+              1.045466287027615
+            ],
+            "current_z": 1.045466287027615,
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+            "initial_z": 0.7565866834931039,
+            "lift_margin": 0.18887960353451116,
+            "gripper_z": 1.0493473019606685,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22858583617857392,
+              0.18780806913163398,
+              1.0493473019606685
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+              0.004957138385246224,
+              0.00487241834778529,
+              -0.0038810149330534838
+            ],
+            "object_to_gripper_xy": 0.006950804379804993,
+            "object_to_gripper_z": -0.0038810149330534838,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23354297456382014,
+              0.16844532964231956,
+              1.045466287027615
+            ],
+            "finger_b": [
+              0.2215168767870193,
+              0.19268048747941927,
+              1.045466287027615
+            ],
+            "finger_midpoint": [
+              0.22752992567541974,
+              0.18056290856086943,
+              1.045466287027615
+            ],
+            "object_minus_finger_midpoint": [
+              0.006013048888400402,
+              0.012117578918549837,
+              0.0
+            ],
+            "finger_gap": 0.027054942304989473,
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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": 1.0915080261659336,
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+            "object_projection_between_fingers": 0.80241396931833,
+            "object_to_finger_line_xy": 0.01077268524543894,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04834800326705556,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.557888731350252,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23313293947623712,
+              0.19226020762144524,
+              1.2411518349851518
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+            "held_position": [
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+              0.19666390867727984,
+              1.237162428629915
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00796068841944888,
+            "max_held_gripper_dist": 0.00796676618326201,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003989406355236813,
+            "max_held_gripper_z_dist": 0.004013832934202544,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08647227807666436,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.17144216482089483,
+              1.237162428629915
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+              0.18405303674908735,
+              1.237162428629915
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+            "held_grasp_object_position": [
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+              0.19666390867727984,
+              1.237162428629915
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+            "held_grasp_finger_gap": 0.027131620445468612,
+            "held_grasp_max_gap": 0.1249658665060997,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024371941597166737,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07681764806171937,
+              -0.9967619175923205,
+              0.02376401868258393
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004027706937100692,
+            "held_grasp_line_xy_max_dist": 0.04748293325304985,
+            "held_grasp_object_top_z": 0.04520075395703316,
+            "held_grasp_top_clearance": 0.032246650984303876,
+            "held_grasp_min_top_clearance": 0.013560226187109947
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.323095557965413,
+              -0.3286779495737786,
+              0.8470193730412559
+            ],
+            "target_position": [
+              0.31563642464986125,
+              -0.3309115529841379,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007786376179837624,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1855014264379951,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193730412559,
+            "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": 0.07542419510002712,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08589783974702024,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.154280752999496,
+            "release_required_pad_clearance": 0.05294891987351012,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9337625182937165,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00772857666015625,
+            "max_z_decrease": 0.00772857666015625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035171658302435425,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00772857666015625,
+            "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": 0.021227724282099965,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00772857666015625,
+            "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": 0.007728596991740811,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1713363528251648,
+              -0.38717299699783325,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1713363528251648,
+              -0.38717299699783325,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1729624425179349,
+              -0.3883398736686544,
+              0.8079584896779907
+            ],
+            "closest_button": [
+              0.17132675647735598,
+              -0.3871770203113556,
+              0.772844135761261
+            ],
+            "closest_ee_minus_button": [
+              0.0016356860405789264,
+              -0.0011628533572988209,
+              0.03511435391672968
+            ],
+            "button_min_z_position": [
+              0.1713189035654068,
+              -0.38717612624168396,
+              0.7690802812576294
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+            "min_active_finger_to_button": 0.1444976309910134,
+            "closest_active_finger": [
+              0.031669050455093384,
+              -0.3734120726585388,
+              0.8103004097938538
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+            "closest_active_finger_button": [
+              0.17133913934230804,
+              -0.38717684149742126,
+              0.7759149074554443
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13967008888721466,
+              0.013764768838882446,
+              0.034385502338409424
+            ],
+            "min_contact_pad_to_button": 0.021227724282099965,
+            "closest_contact_pad": [
+              0.1713189035654068,
+              -0.38944088294511203,
+              0.7901868478962643
+            ],
+            "closest_contact_pad_button": [
+              0.1713189035654068,
+              -0.38717612624168396,
+              0.7690802812576294
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022647567034280724,
+              0.02110656663863486
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a8f524d9e49514848adf522eb2ad15a78071a9edd2a60e3b22c8931462b4ac8f",
+    "visual_seed": 3403602484393838533,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ff345da1b94972aeae45e432e907459aff2177a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_27_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.1922269235189887,
+              1.0448952329655843
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+            "lift_margin": 0.1883087851616635,
+            "gripper_z": 1.0487925772320645,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22784591275613594,
+              0.18746405899686347,
+              1.0487925772320645
+            ],
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+              0.004754385703366282,
+              0.0047628645221252375,
+              -0.0038973442664802516
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+            "object_to_gripper_xy": 0.006729714843326793,
+            "object_to_gripper_z": -0.0038973442664802516,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23260029845950222,
+              0.16809896002930408,
+              1.0448952329655843
+            ],
+            "finger_b": [
+              0.22077776461887555,
+              0.1922269235189887,
+              1.0448952329655843
+            ],
+            "finger_midpoint": [
+              0.2266890315391889,
+              0.18016294177414638,
+              1.0448952329655843
+            ],
+            "object_minus_finger_midpoint": [
+              0.005911266920313324,
+              0.012063981744842328,
+              0.0
+            ],
+            "finger_gap": 0.026868772368165934,
+            "fingertip_max_gap": 0.09257383782119255,
+            "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": 1.0448952329655843,
+            "object_top_z": 1.091535746955364,
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+            "fingertip_min_top_clearance": 0.013992154196933908,
+            "object_projection_between_fingers": 0.8063910259542764,
+            "object_to_finger_line_xy": 0.01061654998425492,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04878691891059628,
+            "require_object_upright": true,
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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": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f627661b6b1422a65393e1c797c29b8a719e4455948cb5bca7b4385e7f4ec9f7",
+    "visual_seed": 4224002934472525022,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2277ea9bd0742086a82d6e2e8abba5aa8d669264
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_28_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+          "skill": "pick",
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+              0.19414144327897317,
+              1.0442681476897013
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+              0.18926336967781687,
+              1.0484382582316687
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+              0.1693133036087088,
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+              0.181727373443841,
+              1.0442681476897013
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_object_xy_range": 0.08678240287658429,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+      "physical_semantics": {
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "target": "heater_platform",
+          "passed": true,
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+            "min_z_margin": 0.2,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075699291953347,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863823032778681,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15412969636051263,
+            "release_required_pad_clearance": 0.05319115163893405,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4027416780762136,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008001208305358887,
+            "max_z_decrease": 0.008001208305358887,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035089699738544436,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008001208305358887,
+            "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": 0.021144217270945443,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008001208305358887,
+            "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": 0.008001233929225346,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17352834343910215,
+              -0.3951510190963745,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17352834343910215,
+              -0.3951510190963745,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1718744775892899,
+              -0.3945794228487628,
+              0.8070801612812474
+            ],
+            "closest_button": [
+              0.17351569235324854,
+              -0.3951539099216461,
+              0.7720335721969604
+            ],
+            "closest_ee_minus_button": [
+              -0.0016412147639586483,
+              0.0005744870728833229,
+              0.03504658908428693
+            ],
+            "button_min_z_position": [
+              0.1735083758831024,
+              -0.3951543867588043,
+              0.7688076496124268
+            ],
+            "min_active_finger_to_button": 0.1473732144411962,
+            "closest_active_finger": [
+              0.043842464685440063,
+              -0.45604556798934937,
+              0.8107807636260986
+            ],
+            "closest_active_finger_button": [
+              0.17353171110153195,
+              -0.3951529860496521,
+              0.7762603759765625
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1296892464160919,
+              -0.060892581939697266,
+              0.03452038764953613
+            ],
+            "min_contact_pad_to_button": 0.021144217270945443,
+            "closest_contact_pad": [
+              0.1735083758831024,
+              -0.3959811309595914,
+              0.7899356977481967
+            ],
+            "closest_contact_pad_button": [
+              0.1735083758831024,
+              -0.3951543867588043,
+              0.7688076496124268
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008267442007870995,
+              0.02112804813576996
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "185b869d2c9e2b83050f40d56be0d258381bf7e6ca833fd338cba0f712d8edf7",
+    "visual_seed": 6470859314058036994,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f66d84ed19bf247718db35fdc959f78645547dc6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_29_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23204551921414546,
+              0.18386062572547876,
+              1.045768626844844
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+            "current_z": 1.045768626844844,
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+            "initial_z": 0.7565866266178549,
+            "lift_margin": 0.18918200022698917,
+            "gripper_z": 1.0499369798137923,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22691257828954822,
+              0.17908806816896916,
+              1.0499369798137923
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+              0.005132940924597235,
+              0.004772557556509599,
+              -0.004168352968948241
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+            "object_to_gripper_xy": 0.007008879237481695,
+            "object_to_gripper_z": -0.004168352968948241,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23204551921414546,
+              0.1591921123423379,
+              1.045768626844844
+            ],
+            "finger_b": [
+              0.22056892916137988,
+              0.18386062572547876,
+              1.045768626844844
+            ],
+            "finger_midpoint": [
+              0.22630722418776267,
+              0.17152636903390833,
+              1.045768626844844
+            ],
+            "object_minus_finger_midpoint": [
+              0.005738295026382789,
+              0.012334256691570428,
+              0.0
+            ],
+            "finger_gap": 0.027207492934363454,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013603746467181727,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045768626844844,
+            "object_top_z": 1.0927419101064981,
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+            "object_projection_between_fingers": 0.8220702012831861,
+            "object_to_finger_line_xy": 0.010405604661644386,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04942612793543394,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1371539800074817,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
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+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..51252a8d4d2f6359329542bad08f76c5b816cb6d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_2_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.1904406836281962,
+              1.046011694053768
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+              1.050098210667357
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+              0.004992819227307682,
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+            "object_to_gripper_z": -0.004086516613589053,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.16608777752969836,
+              1.046011694053768
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+              0.17826423057894727,
+              1.046011694053768
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+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+          }
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+      },
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
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+              1.239478444619239
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+              0.19418867650856628,
+              1.2352524458940894
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+              0.18150687367859458,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_required_pad_clearance": 0.052819059083831374,
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+            "object_tilt_deg": 0.6818454303864645,
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+            "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": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
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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",
+                "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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+                "ground",
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+              ],
+              "enabled": true
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+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008039414882659912,
+            "max_z_decrease": 0.008039414882659912,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504631581104712,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008039414882659912,
+            "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": 0.021186402413671077,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008039414882659912,
+            "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": 0.008039424568494474,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17580902576446533,
+              -0.3912487030029297,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17580902576446533,
+              -0.3912487030029297,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17613559844526858,
+              -0.3908549154508778,
+              0.8038118897177758
+            ],
+            "closest_button": [
+              0.17579664289951322,
+              -0.3912502527236938,
+              0.7687694430351257
+            ],
+            "closest_ee_minus_button": [
+              0.00033895554575535947,
+              0.00039533727281598763,
+              0.03504244668265011
+            ],
+            "button_min_z_position": [
+              0.17579664289951322,
+              -0.3912502527236938,
+              0.7687694430351257
+            ],
+            "min_active_finger_to_button": 0.145409436713507,
+            "closest_active_finger": [
+              0.048738688230514526,
+              -0.45285195112228394,
+              0.8096871376037598
+            ],
+            "closest_active_finger_button": [
+              0.17581561207771296,
+              -0.3912520706653595,
+              0.7750343680381775
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12707692384719843,
+              -0.06159988045692444,
+              0.034652769565582275
+            ],
+            "min_contact_pad_to_button": 0.021186402413671077,
+            "closest_contact_pad": [
+              0.17579664289951322,
+              -0.392133440493764,
+              0.7899374289241234
+            ],
+            "closest_contact_pad_button": [
+              0.17579664289951322,
+              -0.3912502527236938,
+              0.7687694430351257
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008831877700701818,
+              0.02116798588899771
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1df28c0b16a808f41cae214c21edbde1d08264aac0a81b275b4ab7750541a553",
+    "visual_seed": 6996453738066532779,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..42dc1bcfdf395eada3626528666c33dc1487cffb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23114857983364961,
+              0.19314907008599203,
+              1.0467782329214192
+            ],
+            "current_z": 1.0467782329214192,
+            "required_z": 0.8565865447193862,
+            "initial_z": 0.7565865447193862,
+            "lift_margin": 0.19019168820203303,
+            "gripper_z": 1.0511600602569973,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2259415341258287,
+              0.18828920589230025,
+              1.0511600602569973
+            ],
+            "object_minus_gripper": [
+              0.0052070457078209065,
+              0.004859864193691776,
+              -0.004381827335578015
+            ],
+            "object_to_gripper_xy": 0.007122612230387356,
+            "object_to_gripper_z": -0.004381827335578015,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23114857983364961,
+              0.16853427137198032,
+              1.0467782329214192
+            ],
+            "finger_b": [
+              0.21939901640403975,
+              0.19314907008599203,
+              1.0467782329214192
+            ],
+            "finger_midpoint": [
+              0.22527379811884468,
+              0.18084167072898616,
+              1.0467782329214192
+            ],
+            "object_minus_finger_midpoint": [
+              0.005874781714804933,
+              0.012307399357005866,
+              0.0
+            ],
+            "finger_gap": 0.02727527372030825,
+            "fingertip_max_gap": 0.09251738379939212,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013637636860154137,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467782329214192,
+            "object_top_z": 1.093287271121874,
+            "finger_top_clearance": 0.04650903820045471,
+            "fingertip_min_top_clearance": 0.013952711460136413,
+            "object_projection_between_fingers": 0.8144310864934893,
+            "object_to_finger_line_xy": 0.010603491710589923,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875869189969606,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8504884438392052,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2303979612185378,
+              0.19297030426321127,
+              1.241505218079282
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+            "held_position": [
+              0.23583294054813836,
+              0.19745249939147289,
+              1.2369998548653527
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008362258736156475,
+            "max_held_gripper_dist": 0.008366226140067145,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004505363213929359,
+            "max_held_gripper_z_dist": 0.0045299451655260725,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08626614240246974,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23583294054813836,
+              0.17217537459971177,
+              1.2369998548653527
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+            "held_grasp_finger_b": [
+              0.2256918277872959,
+              0.19745249939147289,
+              1.2369998548653527
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+            "held_grasp_midpoint": [
+              0.23076238416771713,
+              0.18481393699559234,
+              1.2369998548653527
+            ],
+            "held_grasp_object_position": [
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+              0.19745249939147289,
+              1.2369998548653527
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+            "held_grasp_finger_gap": 0.027235550403220895,
+            "held_grasp_max_gap": 0.12496606022119522,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02459359545356974,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06164960812252899,
+              -0.997692233153904,
+              0.028452306105388736
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004297195502882617,
+            "held_grasp_line_xy_max_dist": 0.04748303011059761,
+            "held_grasp_object_top_z": 0.04520077258348465,
+            "held_grasp_top_clearance": 0.03227877922906747,
+            "held_grasp_min_top_clearance": 0.013560231775045395
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32131850325243283,
+              -0.3350223201353023,
+              0.8470197009410867
+            ],
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+              0.31360676173414487,
+              -0.3375280994819145,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.008108630425589418,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18810281645101815,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197009410867,
+            "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": 0.07591467817969606,
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+            "release_fingertip_min_gap": 0.08565805859043589,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1556169517972543,
+            "release_required_pad_clearance": 0.05282902929521795,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7022044292847062,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008026540279388428,
+            "max_z_decrease": 0.008026540279388428,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511415005900075,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008026540279388428,
+            "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": 0.02111081561583604,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008026540279388428,
+            "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": 0.00802655871347235,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16930668056011203,
+              -0.3937895596027374,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16930668056011203,
+              -0.3937895596027374,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16778665685825458,
+              -0.39299776846756473,
+              0.8062155135240923
+            ],
+            "closest_button": [
+              0.1692914664745331,
+              -0.39379146695137024,
+              0.7711426019668579
+            ],
+            "closest_ee_minus_button": [
+              -0.001504809616278524,
+              0.000793698483805505,
+              0.035072911557234354
+            ],
+            "button_min_z_position": [
+              0.169289693236351,
+              -0.3937922716140747,
+              0.7687823176383972
+            ],
+            "min_active_finger_to_button": 0.14702769693675333,
+            "closest_active_finger": [
+              0.03982149064540863,
+              -0.4543306827545166,
+              0.8110271692276001
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+            "closest_active_finger_button": [
+              0.16931064426898956,
+              -0.3937930464744568,
+              0.7766048312187195
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12948915362358093,
+              -0.060537636280059814,
+              0.034422338008880615
+            ],
+            "min_contact_pad_to_button": 0.02111081561583604,
+            "closest_contact_pad": [
+              0.169289693236351,
+              -0.39439229812714255,
+              0.7898846043426727
+            ],
+            "closest_contact_pad_button": [
+              0.169289693236351,
+              -0.3937922716140747,
+              0.7687823176383972
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006000265130678417,
+              0.021102286704275497
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "675af939952a48a3ac1f61aa026261357117c74452d936bd60ba281c7004d424",
+    "visual_seed": 8455613739665506931,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dee3fa235dcf46ceca398a30187a97492e4bde4b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_31_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.18984226376305818,
+              1.0441666690820788
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+            "gripper_z": 1.0484886394697799,
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+              0.23059335354640556,
+              0.18489781432936347,
+              1.0484886394697799
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+              0.005164818661230891,
+              0.004944449433694709,
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+            "object_to_gripper_z": -0.004321970387701102,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23575817220763645,
+              0.16540181489691194,
+              1.0441666690820788
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+            "finger_b": [
+              0.22370492112466292,
+              0.18984226376305818,
+              1.0441666690820788
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+            "finger_midpoint": [
+              0.2297315466661497,
+              0.17762203932998505,
+              1.0441666690820788
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+            "object_minus_finger_midpoint": [
+              0.006026625541486752,
+              0.012220224433073135,
+              0.0
+            ],
+            "finger_gap": 0.02725098901779368,
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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": 0.804366209539261,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864097214229682,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8626303168311258,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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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": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "01d607872268421e6d856ffa79f6b01b3d1b08ec42f4a96a0691ca000274b4bf",
+    "visual_seed": 8414649852122200809,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f43da3dc99ef935ab93149fd4030e0db2fdd7b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_32_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              0.18815319351520507,
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+              0.16331538211351437,
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+              0.17573428781435974,
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+            "stable_success_frames": 213,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
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+          "metrics": {
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+            "release_gap_margin": 0.02,
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+            "release_min_pad_clearance": 0.15597102178556282,
+            "release_required_pad_clearance": 0.052827696271408556,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6999717389626844,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008015930652618408,
+            "max_z_decrease": 0.008015930652618408,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035163765135941265,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008015930652618408,
+            "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": 0.021081634184420994,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008015930652618408,
+            "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": 0.008015966985785276,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17464768886566162,
+              -0.3945308923721313,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17464768886566162,
+              -0.3945308923721313,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17427763451589667,
+              -0.3929512942270292,
+              0.8081246303642817
+            ],
+            "closest_button": [
+              0.1746438592672348,
+              -0.3945388793945312,
+              0.7729986310005188
+            ],
+            "closest_ee_minus_button": [
+              -0.00036622475133812893,
+              0.0015875851675020147,
+              0.03512599936376293
+            ],
+            "button_min_z_position": [
+              0.17462387681007385,
+              -0.39453482627868647,
+              0.7687929272651672
+            ],
+            "min_active_finger_to_button": 0.14578203157255154,
+            "closest_active_finger": [
+              0.04802768677473068,
+              -0.4581514596939087,
+              0.810591459274292
+            ],
+            "closest_active_finger_button": [
+              0.17464980483055115,
+              -0.39453378319740295,
+              0.7763565182685852
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12662211805582047,
+              -0.06361767649650574,
+              0.03423494100570679
+            ],
+            "min_contact_pad_to_button": 0.021081634184420994,
+            "closest_contact_pad": [
+              0.1746300607919693,
+              -0.3945334255695343,
+              0.7899538952317843
+            ],
+            "closest_contact_pad_button": [
+              0.1746300607919693,
+              -0.3945334255695343,
+              0.7688722610473633
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021081634184420994
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "54d911efe25275f7d3fe2169ce40673ac0e8331142001f29c6973977f9c5154b",
+    "visual_seed": 6905336779917444033,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf5b9f2e2bb108d1164c76f2821aeb9d87abc7ed
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_33_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23240158566482516,
+              0.18636800257445346,
+              1.0461797308238274
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+            "current_z": 1.0461797308238274,
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18959328301990663,
+            "gripper_z": 1.0504012920045893,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22744660214898124,
+              0.18152997195463816,
+              1.0504012920045893
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+              0.004954983515843919,
+              0.004838030619815303,
+              -0.00422156118076189
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+            "object_to_gripper_xy": 0.006925200496776639,
+            "object_to_gripper_z": -0.00422156118076189,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23240158566482516,
+              0.16207198665330644,
+              1.0461797308238274
+            ],
+            "finger_b": [
+              0.22050745382131462,
+              0.18636800257445346,
+              1.0461797308238274
+            ],
+            "finger_midpoint": [
+              0.2264545197430699,
+              0.17421999461387994,
+              1.0461797308238274
+            ],
+            "object_minus_finger_midpoint": [
+              0.005947065921755257,
+              0.012148007960573526,
+              0.0
+            ],
+            "finger_gap": 0.027051187810361327,
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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": 0.013891988016186557,
+            "object_projection_between_fingers": 0.8066728639962479,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7296226722036163,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23198358181846132,
+              0.185959207139754,
+              1.238751072759961
+            ],
+            "held_position": [
+              0.23722558696400672,
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+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
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+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+              ],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
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+              -0.33108068799411927,
+              0.8470190697119252
+            ],
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+              0.31743952037942585,
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+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007928736120448355,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18700255153946077,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470190697119252,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530413486496033,
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+            "release_gap_margin": 0.02,
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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": 1.1763475828576573,
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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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007761478424072266,
+            "max_z_decrease": 0.007761478424072266,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035105589410402996,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007761478424072266,
+            "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": 0.021146996358983237,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007761478424072266,
+            "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": 0.00776150106117989,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1731394529342652,
+              -0.3896331787109374,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1731394529342652,
+              -0.3896331787109374,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17378796039591993,
+              -0.389583446215826,
+              0.8078635721074741
+            ],
+            "closest_button": [
+              0.17312920093536383,
+              -0.3896376490592956,
+              0.7727642059326172
+            ],
+            "closest_ee_minus_button": [
+              0.000658759460556102,
+              5.420284346957516e-05,
+              0.03509936617485687
+            ],
+            "button_min_z_position": [
+              0.17312097549438485,
+              -0.38963633775711054,
+              0.7690473794937134
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+            "min_active_finger_to_button": 0.14557815337442256,
+            "closest_active_finger": [
+              0.03255683183670044,
+              -0.3740990161895752,
+              0.8097721338272095
+            ],
+            "closest_active_finger_button": [
+              0.1731438338756562,
+              -0.3896384835243224,
+              0.775321900844574
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14058700203895577,
+              0.015539467334747203,
+              0.0344502329826355
+            ],
+            "min_contact_pad_to_button": 0.021146996358983237,
+            "closest_contact_pad": [
+              0.17312097549438485,
+              -0.3907484119334505,
+              0.7901651148370964
+            ],
+            "closest_contact_pad_button": [
+              0.17312097549438485,
+              -0.38963633775711054,
+              0.7690473794937134
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001112074176339961,
+              0.021117735343383015
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e7370a21112a06a6d95f3e659f33ab76fab27b701883b7726e152c927a1baa48",
+    "visual_seed": 3657600843271670118,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..522fdb0de2236b435ce34a249f4a30bdec1f3837
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
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+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507785816233425,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007928192615509033,
+            "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": 0.02124909207562123,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007928192615509033,
+            "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": 0.00792821429197329,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17558462917804712,
+              -0.3889952003955841,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17558462917804712,
+              -0.3889952003955841,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1766278237642931,
+              -0.38954993275172206,
+              0.8043768619282835
+            ],
+            "closest_button": [
+              0.17556586861610407,
+              -0.3889987468719482,
+              0.7693194150924683
+            ],
+            "closest_ee_minus_button": [
+              0.00106195514818902,
+              -0.0005511858797738745,
+              0.03505744683581524
+            ],
+            "button_min_z_position": [
+              0.1755664497613906,
+              -0.38899883627891535,
+              0.7688806653022766
+            ],
+            "min_active_finger_to_button": 0.1448401126673104,
+            "closest_active_finger": [
+              0.035902686417102814,
+              -0.37283220887184143,
+              0.8076749444007874
+            ],
+            "closest_active_finger_button": [
+              0.17559474706649775,
+              -0.38900279998779297,
+              0.7729863524436951
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13969206064939493,
+              0.016170591115951538,
+              0.034688591957092285
+            ],
+            "min_contact_pad_to_button": 0.02124909207562123,
+            "closest_contact_pad": [
+              0.1755664497613906,
+              -0.39079515774212237,
+              0.7900536939764897
+            ],
+            "closest_contact_pad_button": [
+              0.1755664497613906,
+              -0.38899883627891535,
+              0.7688806653022766
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001796321463207018,
+              0.021173028674213112
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "972e58e45677c7c56a8e3ee214eb46280aba8c4c831966cfe312515df53d6d2e",
+    "visual_seed": 4868846100962491522,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ea64e623cabecc05cef9a5f060355450b5ddcbb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_35_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23708484113548645,
+              0.19269676534453026,
+              1.047408936384965
+            ],
+            "current_z": 1.047408936384965,
+            "required_z": 0.8565866588872937,
+            "initial_z": 0.7565866588872937,
+            "lift_margin": 0.19082227749767133,
+            "gripper_z": 1.0515512411680454,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23201936447997407,
+              0.18786056628919762,
+              1.0515512411680454
+            ],
+            "object_minus_gripper": [
+              0.00506547665551238,
+              0.004836199055332641,
+              -0.004142304783080419
+            ],
+            "object_to_gripper_xy": 0.0070034188115763295,
+            "object_to_gripper_z": -0.004142304783080419,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23708484113548645,
+              0.1682441386159005,
+              1.047408936384965
+            ],
+            "finger_b": [
+              0.22529566106157273,
+              0.19269676534453026,
+              1.047408936384965
+            ],
+            "finger_midpoint": [
+              0.2311902510985296,
+              0.18047045198021539,
+              1.047408936384965
+            ],
+            "object_minus_finger_midpoint": [
+              0.005894590036956859,
+              0.012226313364314872,
+              0.0
+            ],
+            "finger_gap": 0.02714619164348587,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013573095821742934,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047408936384965,
+            "object_top_z": 1.0938837552944243,
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+            "fingertip_min_top_clearance": 0.013942445672837778,
+            "object_projection_between_fingers": 0.8113966592072689,
+            "object_to_finger_line_xy": 0.010619405608343882,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048699579626207995,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8276554302418383,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2365179771561404,
+              0.19244844238214154,
+              1.2396807951245827
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+            "held_position": [
+              0.2418237514195859,
+              0.1968905449226164,
+              1.2354018669386941
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008135892202747389,
+            "max_held_gripper_dist": 0.008141373267310861,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0042789281858885975,
+            "max_held_gripper_z_dist": 0.004306120467268304,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08617476375616157,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2418237514195859,
+              0.17165470082105924,
+              1.2354018669386941
+            ],
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+              0.1968905449226164,
+              1.2354018669386941
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+            "held_grasp_midpoint": [
+              0.23683293310152045,
+              0.18427262287183782,
+              1.2354018669386941
+            ],
+            "held_grasp_object_position": [
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+              0.1968905449226164,
+              1.2354018669386941
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+            "held_grasp_finger_gap": 0.02713818154287143,
+            "held_grasp_max_gap": 0.12496575474739074,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024504760154032666,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06665889543948617,
+              -0.9973958043797851,
+              0.02753545104750066
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004153563503047832,
+            "held_grasp_line_xy_max_dist": 0.04748287737369537,
+            "held_grasp_object_top_z": 0.04520067572593689,
+            "held_grasp_top_clearance": 0.032282930776077766,
+            "held_grasp_min_top_clearance": 0.013560202717781066
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3293735361342571,
+              -0.3363164413498163,
+              0.8470194956875539
+            ],
+            "target_position": [
+              0.32147281249555737,
+              -0.3388081546827625,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008284326728750556,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1854888128578246,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194956875539,
+            "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": 0.07519543031131165,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08614944751828328,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15492384796070544,
+            "release_required_pad_clearance": 0.05307472375914164,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1776775885562185,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007816910743713379,
+            "max_z_decrease": 0.007816910743713379,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350652481405688,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007816910743713379,
+            "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": 0.02141054738622385,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007816910743713379,
+            "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": 0.007816932498976793,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17717273533344258,
+              -0.39506959915161133,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17717273533344258,
+              -0.39506959915161133,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1771916092132466,
+              -0.3968887508349485,
+              0.8058982684244327
+            ],
+            "closest_button": [
+              0.1771569997072219,
+              -0.395071417093277,
+              0.7708801627159119
+            ],
+            "closest_ee_minus_button": [
+              3.460950602468538e-05,
+              -0.001817333741671534,
+              0.03501810570852082
+            ],
+            "button_min_z_position": [
+              0.1771545708179473,
+              -0.3950727880001068,
+              0.7689919471740723
+            ],
+            "min_active_finger_to_button": 0.1458765628747669,
+            "closest_active_finger": [
+              0.03641883283853531,
+              -0.37918490171432495,
+              0.8080254793167114
+            ],
+            "closest_active_finger_button": [
+              0.17718304693698872,
+              -0.39507725834846497,
+              0.7731996178627014
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1407642140984534,
+              0.015892356634140015,
+              0.03482586145401001
+            ],
+            "min_contact_pad_to_button": 0.02141054738622385,
+            "closest_contact_pad": [
+              0.1771545708179473,
+              -0.39824042527740544,
+              0.7901668760631431
+            ],
+            "closest_contact_pad_button": [
+              0.1771545708179473,
+              -0.3950727880001068,
+              0.7689919471740723
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031676372772986294,
+              0.0211749288890708
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "23a731269d7196af804b2f476506ca0681dee97777e960b7efba8f6b50b08ef2",
+    "visual_seed": 8621096301311468907,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4018caeeb6b6a52c0420dd8156ccd7bf6853c49b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_36_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2356478433095576,
+              0.190324122623135,
+              1.0447974676854541
+            ],
+            "current_z": 1.0447974676854541,
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+            "initial_z": 0.7565865779477029,
+            "lift_margin": 0.18821088973775124,
+            "gripper_z": 1.0490076317175905,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23050714440220807,
+              0.18550275716532524,
+              1.0490076317175905
+            ],
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+              0.005140698907349528,
+              0.0048213654578097564,
+              -0.004210164032136365
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+            "object_to_gripper_xy": 0.007047861387242637,
+            "object_to_gripper_z": -0.004210164032136365,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2356478433095576,
+              0.1657455912542334,
+              1.0447974676854541
+            ],
+            "finger_b": [
+              0.22396608320164016,
+              0.190324122623135,
+              1.0447974676854541
+            ],
+            "finger_midpoint": [
+              0.22980696325559888,
+              0.1780348569386842,
+              1.0447974676854541
+            ],
+            "object_minus_finger_midpoint": [
+              0.005840880053958719,
+              0.012289265684450795,
+              0.0
+            ],
+            "finger_gap": 0.02721337398175777,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013606686990878886,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0447974676854541,
+            "object_top_z": 1.0912208784590995,
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+            "fingertip_min_top_clearance": 0.01392702323209366,
+            "object_projection_between_fingers": 0.8157312087821863,
+            "object_to_finger_line_xy": 0.01055071331650754,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048679072680724536,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8140123092486257,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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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": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e2da6a09f314be5deab1b3071b2aa25ed37755338e58d5c96b02c8b1ee69486f",
+    "visual_seed": 3031069610748870677,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e35e5786293df072591f7e1b53472328682e037
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_37_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+          "skill": "pick",
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+              0.18986455082104747,
+              1.0472313350060072
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+            "lift_margin": 0.1906447120651783,
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+              0.2341693313594222,
+              0.184922412368758,
+              1.051350645105135
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+              0.1655312076144514,
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+              0.17769787921774943,
+              1.0472313350060072
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+              0.01216667160329804,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+              0.19357117520548822,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15439786166399724,
+            "release_required_pad_clearance": 0.052482767995098475,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.039564442549520996,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00794374942779541,
+            "max_z_decrease": 0.00794374942779541,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517778366578564,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00794374942779541,
+            "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": 0.021044428226778766,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00794374942779541,
+            "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": 0.00794376842766445,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16872030496597293,
+              -0.39208021759986866,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16872030496597293,
+              -0.39208021759986866,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1675886031499654,
+              -0.3906829362526424,
+              0.8080190794947625
+            ],
+            "closest_button": [
+              0.16871155798435214,
+              -0.39208897948265065,
+              0.7728873491287231
+            ],
+            "closest_ee_minus_button": [
+              -0.0011229548343867357,
+              0.0014060432300082581,
+              0.03513173036603934
+            ],
+            "button_min_z_position": [
+              0.16870304942131042,
+              -0.392082244157791,
+              0.7688651084899902
+            ],
+            "min_active_finger_to_button": 0.1464984661555281,
+            "closest_active_finger": [
+              0.04107511043548584,
+              -0.45534050464630127,
+              0.8109527826309204
+            ],
+            "closest_active_finger_button": [
+              0.16872218251228335,
+              -0.39208263158798207,
+              0.776799201965332
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1276470720767975,
+              -0.0632578730583192,
+              0.03415358066558838
+            ],
+            "min_contact_pad_to_button": 0.021044428226778766,
+            "closest_contact_pad": [
+              0.16870304942131042,
+              -0.392082244157791,
+              0.789909536716769
+            ],
+            "closest_contact_pad_button": [
+              0.16870304942131042,
+              -0.392082244157791,
+              0.7688651084899902
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021044428226778766
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d4e1d09d7be56173b7b0df8921b63f8d3873f40c2a82e2932bd218813645f47a",
+    "visual_seed": 8575547919203745351,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b77d64afa59b3df9a1a25bc6bec736cd7b8f26f5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_38_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23797202455364333,
+              0.189103627162985,
+              1.0464999834761044
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+            "current_z": 1.0464999834761044,
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+            "lift_margin": 0.189913395148551,
+            "gripper_z": 1.0506827462879553,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2330526838452455,
+              0.18438621817472262,
+              1.0506827462879553
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+              0.004919340708397835,
+              0.004717408988262395,
+              -0.004182762811850926
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+            "object_to_gripper_xy": 0.006815706901550194,
+            "object_to_gripper_z": -0.004182762811850926,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23797202455364333,
+              0.16467791692563089,
+              1.0464999834761044
+            ],
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+              0.189103627162985,
+              1.0464999834761044
+            ],
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+              0.2322126657156394,
+              0.17689077204430795,
+              1.0464999834761044
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012212855118677063,
+              0.0
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+            "finger_gap": 0.02700548421152197,
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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": 0.010418360139605167,
+            "fingertip_xy_max_dist": 0.055,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23742000337398322,
+              0.1890241551467987,
+              1.2406226066810557
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+            "held_position": [
+              0.24255773949109352,
+              0.1933889289218631,
+              1.236323525679893
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
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+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32648234384584884,
+              -0.33671548505441906,
+              0.8470196140512735
+            ],
+            "target_position": [
+              0.3198029682512731,
+              -0.3386038356198742,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006941176138916891,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18736883920871292,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196140512735,
+            "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": 0.07585406260257911,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08568295189007756,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1550434808603167,
+            "release_required_pad_clearance": 0.05284147594503878,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7263121572516931,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008198380470275879,
+            "max_z_decrease": 0.008198380470275879,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504342159756563,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008198380470275879,
+            "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": 0.021085448431382322,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008198380470275879,
+            "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": 0.008198397954591695,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17550289630889887,
+              -0.3948653042316436,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17550289630889887,
+              -0.3948653042316436,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17670902383351947,
+              -0.39609181268629134,
+              0.8036110691373243
+            ],
+            "closest_button": [
+              0.17550326883792872,
+              -0.39484837651252747,
+              0.7686104774475098
+            ],
+            "closest_ee_minus_button": [
+              0.001205754995590752,
+              -0.0012434361737638788,
+              0.03500059168981451
+            ],
+            "button_min_z_position": [
+              0.17550326883792872,
+              -0.39484837651252747,
+              0.7686104774475098
+            ],
+            "min_active_finger_to_button": 0.14448292189325151,
+            "closest_active_finger": [
+              0.03576339781284332,
+              -0.38204526901245117,
+              0.8104903101921082
+            ],
+            "closest_active_finger_button": [
+              0.17550626397132868,
+              -0.39486950635910034,
+              0.7760986685752869
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13974286615848536,
+              0.01282423734664917,
+              0.03439164161682129
+            ],
+            "min_contact_pad_to_button": 0.021085448431382322,
+            "closest_contact_pad": [
+              0.17550326883792872,
+              -0.3970836918379753,
+              0.789577105715982
+            ],
+            "closest_contact_pad_button": [
+              0.17550326883792872,
+              -0.39484837651252747,
+              0.7686104774475098
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002235315325447851,
+              0.020966628268472287
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "78bb137edff7d844db199807d0b9c811c7ffa871c425349aa61523fbf20061d8",
+    "visual_seed": 6447099510663451789,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c4682e54ffebd45ecc46cded8188efa05de8333
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+            "contact_point_distance": 0.021131579305939403,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007895112037658691,
+            "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": 0.007895132377248407,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17563238739967343,
+              -0.3885470032691955,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17563238739967343,
+              -0.3885470032691955,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17687701987203383,
+              -0.38799222862703064,
+              0.8052722713162602
+            ],
+            "closest_button": [
+              0.17561537027359003,
+              -0.38855004310607905,
+              0.7701614499092102
+            ],
+            "closest_ee_minus_button": [
+              0.001261649598443798,
+              0.0005578144790484019,
+              0.03511082140705002
+            ],
+            "button_min_z_position": [
+              0.1756147742271423,
+              -0.38855031132698054,
+              0.768913745880127
+            ],
+            "min_active_finger_to_button": 0.14459107123373388,
+            "closest_active_finger": [
+              0.05051075667142868,
+              -0.45232561230659485,
+              0.8108184933662415
+            ],
+            "closest_active_finger_button": [
+              0.17563533782958984,
+              -0.3885493576526641,
+              0.7764236330986023
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12512458115816116,
+              -0.06377625465393078,
+              0.03439486026763916
+            ],
+            "min_contact_pad_to_button": 0.021131579305939403,
+            "closest_contact_pad": [
+              0.1756147742271423,
+              -0.3890514895780976,
+              0.7900393811208437
+            ],
+            "closest_contact_pad_button": [
+              0.1756147742271423,
+              -0.38855031132698054,
+              0.768913745880127
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005011782511170626,
+              0.021125635240716756
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3509f64f8892639ec3e3813a3c0f6fa9a63deb84159e439131e9b4e514ca42c1",
+    "visual_seed": 6008707865820876534,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b237cb5dae8606428ea03d002ada3eba99d349af
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_3_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2387497594746249,
+              0.18731612604509018,
+              1.0444150795146714
+            ],
+            "current_z": 1.0444150795146714,
+            "required_z": 0.8565865704050538,
+            "initial_z": 0.7565865704050538,
+            "lift_margin": 0.18782850910961757,
+            "gripper_z": 1.0484701139527663,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2336588988155616,
+              0.18244052039459902,
+              1.0484701139527663
+            ],
+            "object_minus_gripper": [
+              0.0050908606590633065,
+              0.004875605650491166,
+              -0.004055034438094962
+            ],
+            "object_to_gripper_xy": 0.007048999411909456,
+            "object_to_gripper_z": -0.004055034438094962,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2387497594746249,
+              0.16287812195659523,
+              1.0444150795146714
+            ],
+            "finger_b": [
+              0.22686100868229292,
+              0.18731612604509018,
+              1.0444150795146714
+            ],
+            "finger_midpoint": [
+              0.2328053840784589,
+              0.1750971240008427,
+              1.0444150795146714
+            ],
+            "object_minus_finger_midpoint": [
+              0.005944375396165991,
+              0.012219002044247473,
+              0.0
+            ],
+            "finger_gap": 0.02717643168687659,
+            "fingertip_max_gap": 0.09205430100182349,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013588215843438296,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0444150795146714,
+            "object_top_z": 1.0907277356739637,
+            "finger_top_clearance": 0.046312656159292365,
+            "fingertip_min_top_clearance": 0.013893796847787692,
+            "object_projection_between_fingers": 0.8086239518849009,
+            "object_to_finger_line_xy": 0.010690783242540488,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852715050091175,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7219520659665889,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23814570737303803,
+              0.18682196392751071,
+              1.2373904217749803
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+            "held_position": [
+              0.24350513192258258,
+              0.19127656618203664,
+              1.2332001537170496
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008131743917856874,
+            "max_held_gripper_dist": 0.008138289239958973,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004190268057930657,
+            "max_held_gripper_z_dist": 0.004215272336357545,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08635648571974158,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24350513192258258,
+              0.1659928454145598,
+              1.2332001537170496
+            ],
+            "held_grasp_finger_b": [
+              0.23351532609658388,
+              0.19127656618203664,
+              1.2332001537170496
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+            "held_grasp_midpoint": [
+              0.23851022900958324,
+              0.1786347057982982,
+              1.2332001537170496
+            ],
+            "held_grasp_object_position": [
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+              0.19127656618203664,
+              1.2332001537170496
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+            "held_grasp_finger_gap": 0.027185708677334445,
+            "held_grasp_max_gap": 0.1249656131863594,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02450511682008956,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07073726414451692,
+              -0.9971541999461673,
+              0.026071842878244926
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041017760436465765,
+            "held_grasp_line_xy_max_dist": 0.0474828065931797,
+            "held_grasp_object_top_z": 0.04520052298903465,
+            "held_grasp_top_clearance": 0.032241313045523766,
+            "held_grasp_min_top_clearance": 0.013560156896710395
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3197979956904161,
+              -0.33395121654674004,
+              0.8470195240965193
+            ],
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+              0.31201837614681166,
+              -0.33648637597103404,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008182268239908728,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18672582060164566,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195240965193,
+            "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": 0.07563484474470755,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562932196771732,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15501805946757669,
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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": 0.6749238754907035,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00805354118347168,
+            "max_z_decrease": 0.00805354118347168,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035134404518123066,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00805354118347168,
+            "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": 0.02107119691931438,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00805354118347168,
+            "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": 0.00805354657267318,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.167718306183815,
+              -0.3927478492259979,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.167718306183815,
+              -0.3927478492259979,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16808155124334187,
+              -0.39300474760138054,
+              0.8079560752611336
+            ],
+            "closest_button": [
+              0.1677088439464569,
+              -0.3927563428878784,
+              0.7728245258331299
+            ],
+            "closest_ee_minus_button": [
+              0.00037270729688496096,
+              -0.0002484047135021261,
+              0.03513154942800367
+            ],
+            "button_min_z_position": [
+              0.16771002113819122,
+              -0.3927435874938965,
+              0.768755316734314
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+            "min_active_finger_to_button": 0.14578038044164848,
+            "closest_active_finger": [
+              0.02668851613998413,
+              -0.37893277406692505,
+              0.8103418350219727
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+            "closest_active_finger_button": [
+              0.16771815717220304,
+              -0.3927522301673889,
+              0.7761134505271912
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1410296410322189,
+              0.013819456100463867,
+              0.034228384494781494
+            ],
+            "min_contact_pad_to_button": 0.02107119691931438,
+            "closest_contact_pad": [
+              0.16771002113819122,
+              -0.3939769326124287,
+              0.789790387436147
+            ],
+            "closest_contact_pad_button": [
+              0.16771002113819122,
+              -0.3927435874938965,
+              0.768755316734314
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012333451185322364,
+              0.02103507070183308
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4b1c11d626ad79bb411b22d92fdb8dc2e2af0da09918c1dc2252552c0ba264d3",
+    "visual_seed": 1076371895217285194,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbcb784833958479d98feb85d109ba9caa314c7f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_40_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23925085370037594,
+              0.18521670136507734,
+              1.0442694902862433
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+            "lift_margin": 0.18768281307243861,
+            "gripper_z": 1.048200150929704,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2342064141751022,
+              0.18037276231062954,
+              1.048200150929704
+            ],
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+              0.005044439525273725,
+              0.004843939054447799,
+              -0.003930660643460815
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+            "object_to_gripper_xy": 0.006993576744938775,
+            "object_to_gripper_z": -0.003930660643460815,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23925085370037594,
+              0.1608183704737009,
+              1.0442694902862433
+            ],
+            "finger_b": [
+              0.22739274821020905,
+              0.18521670136507734,
+              1.0442694902862433
+            ],
+            "finger_midpoint": [
+              0.23332180095529248,
+              0.17301753591938912,
+              1.0442694902862433
+            ],
+            "object_minus_finger_midpoint": [
+              0.005929052745083457,
+              0.01219916544568822,
+              0.0
+            ],
+            "finger_gap": 0.027127351807742308,
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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": 0.8089197416971118,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048470415248694276,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6715192261936651,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e0a38cc59a7e9b3533c73cc1692d3a9bd4127cd0f1b55a8a0d79f63c7a3502af",
+    "visual_seed": 6642867956660577460,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..00b3a6b9707355ed7ef522b85929ffd0f7136c04
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_41_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+            "active_arm": null,
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+              0.18841597078145886,
+              1.0438587050140449
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+            "lift_margin": 0.18727198604355888,
+            "gripper_z": 1.0482145990788587,
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+            "gripper_position": [
+              0.22623557456707885,
+              0.1836791490245867,
+              1.0482145990788587
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+              0.005073968160794418,
+              0.0047368217568721505,
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+            "object_to_gripper_z": -0.004355894064813848,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.16380642933671524,
+              1.0438587050140449
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+              1.0438587050140449
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+              0.17611120005908704,
+              1.0438587050140449
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+              0.012304770722371822,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0487788868609602,
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+              0.0,
+              1.0
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+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                },
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.1883089286371022,
+              1.2365103830517736
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+              0.19271828860872256,
+              1.2320239299226448
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+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 0.004486453129128876,
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+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08632631898485119,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.1801233246304463,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
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+            },
+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "target": "heater_platform",
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+          "metrics": {
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+            "release_gap_margin": 0.02,
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+            "release_min_pad_clearance": 0.15462015894483858,
+            "release_required_pad_clearance": 0.052733330868440384,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5173750247508736,
+            "object_max_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"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008022665977478027,
+            "max_z_decrease": 0.008022665977478027,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514212021820915,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008022665977478027,
+            "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": 0.02117489828357517,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008022665977478027,
+            "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": 0.008022700115520863,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.170780211687088,
+              -0.3864696323871612,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.170780211687088,
+              -0.3864696323871612,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17230677536451097,
+              -0.38659159314533076,
+              0.8045355831410297
+            ],
+            "closest_button": [
+              0.17076143622398376,
+              -0.3864729702472687,
+              0.7694276571273804
+            ],
+            "closest_ee_minus_button": [
+              0.0015453391405272077,
+              -0.00011862289806208182,
+              0.035107926013649315
+            ],
+            "button_min_z_position": [
+              0.17075732350349426,
+              -0.3864745199680328,
+              0.7687861919403076
+            ],
+            "min_active_finger_to_button": 0.1443751762304618,
+            "closest_active_finger": [
+              0.031490758061409,
+              -0.3705521821975708,
+              0.8092999458312988
+            ],
+            "closest_active_finger_button": [
+              0.1707843840122223,
+              -0.38647568225860596,
+              0.7748337388038635
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1392936259508133,
+              0.015923500061035156,
+              0.0344662070274353
+            ],
+            "min_contact_pad_to_button": 0.02117489828357517,
+            "closest_contact_pad": [
+              0.17075732350349426,
+              -0.3877749455027082,
+              0.789921120630713
+            ],
+            "closest_contact_pad_button": [
+              0.17075732350349426,
+              -0.3864745199680328,
+              0.7687861919403076
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001300425534675409,
+              0.02113492869040534
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e295c307726ee612afbde25d45b9cecdee71fa227486fb7c513abfd455872872",
+    "visual_seed": 6325221324067748507,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a74150b7665d33f39e571c85de4fc64fd1cdc913
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_42_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23496286008220138,
+              0.19212948510449213,
+              1.0468560146876411
+            ],
+            "current_z": 1.0468560146876411,
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+            "lift_margin": 0.19026950727907554,
+            "gripper_z": 1.0505495207570539,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23010411901680508,
+              0.18729587799605593,
+              1.0505495207570539
+            ],
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+              0.004858741065396299,
+              0.004833607108436194,
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+            "object_to_gripper_xy": 0.006853548162761627,
+            "object_to_gripper_z": -0.0036935060694127664,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23496286008220138,
+              0.1679498008912095,
+              1.0468560146876411
+            ],
+            "finger_b": [
+              0.22301450554744207,
+              0.19212948510449213,
+              1.0468560146876411
+            ],
+            "finger_midpoint": [
+              0.2289886828148217,
+              0.1800396429978508,
+              1.0468560146876411
+            ],
+            "object_minus_finger_midpoint": [
+              0.005974177267379671,
+              0.012089842106641324,
+              0.0
+            ],
+            "finger_gap": 0.02697073051925684,
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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": 1.0468560146876411,
+            "object_top_z": 1.0928132849677152,
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+            "object_projection_between_fingers": 0.803740457672727,
+            "object_to_finger_line_xy": 0.010711887811586952,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048169798702527675,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4812965972098414,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23476870649573708,
+              0.19149168370680142,
+              1.2401610507674292
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+            "held_position": [
+              0.23996333178759924,
+              0.19585197088545467,
+              1.236339634178328
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007784565559531271,
+            "max_held_gripper_dist": 0.0077909477852776896,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0038214165891012897,
+            "max_held_gripper_z_dist": 0.0038457038720887127,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0863896255020668,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
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+                "beaker_b"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "joint1",
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+                "joint5",
+                "joint6",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32407335833235873,
+              -0.3283989031434166,
+              0.8470195664062015
+            ],
+            "target_position": [
+              0.3165892391382616,
+              -0.3305398666533527,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007784328157415468,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18746695629366353,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195664062015,
+            "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": 0.0753626675835389,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08605026011782556,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15618322937971782,
+            "release_required_pad_clearance": 0.05302513005891278,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0820817948186476,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00769573450088501,
+            "max_z_decrease": 0.00769573450088501,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518009763317572,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00769573450088501,
+            "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": 0.02133636950363865,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00769573450088501,
+            "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": 0.007695756024921118,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17228916287422183,
+              -0.38680133223533625,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17228916287422183,
+              -0.38680133223533625,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17380710410159783,
+              -0.3885801773518769,
+              0.8047207482303382
+            ],
+            "closest_button": [
+              0.17227058112621307,
+              -0.38680446147918696,
+              0.7696191072463989
+            ],
+            "closest_ee_minus_button": [
+              0.0015365229753847576,
+              -0.0017757158726899314,
+              0.03510164098393931
+            ],
+            "button_min_z_position": [
+              0.17227128148078918,
+              -0.38680472970008845,
+              0.7691131234169006
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+            "min_active_finger_to_button": 0.14420463927761842,
+            "closest_active_finger": [
+              0.03298766911029816,
+              -0.37272217869758606,
+              0.8087334036827087
+            ],
+            "closest_active_finger_button": [
+              0.17229506373405457,
+              -0.38680762052536,
+              0.7742366194725037
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1393073946237564,
+              0.014085441827773937,
+              0.03449678421020508
+            ],
+            "min_contact_pad_to_button": 0.02133636950363865,
+            "closest_contact_pad": [
+              0.17227128148078918,
+              -0.38974392071283814,
+              0.7902460791918596
+            ],
+            "closest_contact_pad_button": [
+              0.17227128148078918,
+              -0.38680472970008845,
+              0.7691131234169006
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002939191012749698,
+              0.021132955774958995
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8398215ecec09fca321bb6c0214e2f8c50adb3c583e0de22ee9be4d7ef7e50d8",
+    "visual_seed": 3896962681426353993,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f1c788130028fd8ccad982d768d67a924a006c6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_43_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23398971842526703,
+              0.1887759288241123,
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+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00804311891074234,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17446529865264887,
+              -0.3943484425544739,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17446529865264887,
+              -0.3943484425544739,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17314139101850737,
+              -0.39540805875361595,
+              0.803814215473278
+            ],
+            "closest_button": [
+              0.1744535863399505,
+              -0.39434799551963806,
+              0.7687657475471497
+            ],
+            "closest_ee_minus_button": [
+              -0.001312195321443138,
+              -0.0010600632339778926,
+              0.03504846792612837
+            ],
+            "button_min_z_position": [
+              0.1744535863399505,
+              -0.39434799551963806,
+              0.7687657475471497
+            ],
+            "min_active_finger_to_button": 0.14697358248670478,
+            "closest_active_finger": [
+              0.032468877732753754,
+              -0.3786929249763489,
+              0.810184121131897
+            ],
+            "closest_active_finger_button": [
+              0.17446914315223688,
+              -0.3943530023097992,
+              0.7756599187850952
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14200026541948313,
+              0.015660077333450317,
+              0.03452420234680176
+            ],
+            "min_contact_pad_to_button": 0.0212089524464627,
+            "closest_contact_pad": [
+              0.1744535863399505,
+              -0.39663877958470745,
+              0.789850622985329
+            ],
+            "closest_contact_pad_button": [
+              0.1744535863399505,
+              -0.39434799551963806,
+              0.7687657475471497
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022907840650693845,
+              0.021084875438179385
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c7d07e58e31b0cf67fc16c274e400bb33df037235924e5dcda558596c5769dd4",
+    "visual_seed": 6295896084124967753,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f8c84dbba3bac02751707fd7d02bde662b22420
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_44_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23231864991177692,
+              0.18882016198610152,
+              1.046393690046293
+            ],
+            "current_z": 1.046393690046293,
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+            "lift_margin": 0.18980699914424148,
+            "gripper_z": 1.0506189797948426,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2271449424660876,
+              0.18398364226973346,
+              1.0506189797948426
+            ],
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+              0.005173707445689318,
+              0.0048365197163680596,
+              -0.004225289748549743
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+            "object_to_gripper_xy": 0.007082314007469456,
+            "object_to_gripper_z": -0.004225289748549743,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23231864991177692,
+              0.1642197568003485,
+              1.046393690046293
+            ],
+            "finger_b": [
+              0.220616657592761,
+              0.18882016198610152,
+              1.046393690046293
+            ],
+            "finger_midpoint": [
+              0.22646765375226896,
+              0.176519959393225,
+              1.046393690046293
+            ],
+            "object_minus_finger_midpoint": [
+              0.00585099615950796,
+              0.012300202592876508,
+              0.0
+            ],
+            "finger_gap": 0.02724181637735508,
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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": 1.0927316513992107,
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+            "object_projection_between_fingers": 0.8154782796928246,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04865290925258309,
+            "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": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23155311478833743,
+              0.18845205046390642,
+              1.2416279804357206
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+            "held_position": [
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+              0.19291376772229865,
+              1.2372942604493138
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008246762124055484,
+            "max_held_gripper_dist": 0.008251366148604949,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004333719986406859,
+            "max_held_gripper_z_dist": 0.004357221554610602,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08629545977928033,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.167658273546199,
+              1.2372942604493138
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+              0.22681654512352234,
+              0.19291376772229865,
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+              0.1802860206342488,
+              1.2372942604493138
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+            "held_grasp_object_position": [
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+              0.19291376772229865,
+              1.2372942604493138
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+            "held_grasp_finger_gap": 0.02721933362819117,
+            "held_grasp_max_gap": 0.12496562063694,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024555651584136615,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06309774403364667,
+              -0.997651664371571,
+              0.026642658923216045
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004282406509654675,
+            "held_grasp_line_xy_max_dist": 0.04748281031847,
+            "held_grasp_object_top_z": 0.04520051181316376,
+            "held_grasp_top_clearance": 0.03228215180591973,
+            "held_grasp_min_top_clearance": 0.013560153543949127
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              -0.33652124512208303,
+              0.8470194567327378
+            ],
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+              0.3170325825505482,
+              -0.3393534620791051,
+              0.8084375599031817
+            ],
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+            "xy_threshold": 0.08,
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+            "gripper_away_ok": true,
+            "object_z": 0.8470194567327378,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.0884686776614349,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008079349994659424,
+            "max_z_decrease": 0.008079349994659424,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506688525719796,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008079349994659424,
+            "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": 0.02127928101790966,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008079349994659424,
+            "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": 0.008079352823000988,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1727325022220611,
+              -0.3956149220466614,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1727325022220611,
+              -0.3956149220466614,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17281785569283478,
+              -0.39735155186308285,
+              0.8037529277058728
+            ],
+            "closest_button": [
+              0.17273308336734766,
+              -0.39560818672180176,
+              0.7687295079231262
+            ],
+            "closest_ee_minus_button": [
+              8.477232548712021e-05,
+              -0.0017433651412810947,
+              0.03502341978274659
+            ],
+            "button_min_z_position": [
+              0.17273308336734766,
+              -0.39560818672180176,
+              0.7687295079231262
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+            "min_active_finger_to_button": 0.1455474336134152,
+            "closest_active_finger": [
+              0.03217621147632599,
+              -0.3803371787071228,
+              0.8090013861656189
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+            "closest_active_finger_button": [
+              0.1727378070354461,
+              -0.3956205248832702,
+              0.7744628190994263
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14056159555912012,
+              0.015283346176147405,
+              0.03453856706619263
+            ],
+            "min_contact_pad_to_button": 0.02127928101790966,
+            "closest_contact_pad": [
+              0.17273308336734766,
+              -0.398611357879253,
+              0.7897958024154716
+            ],
+            "closest_contact_pad_button": [
+              0.17273308336734766,
+              -0.39560818672180176,
+              0.7687295079231262
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030031711574512454,
+              0.021066294492345428
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c09a4a4185ad8bb3853d08c9502678ddd2fcd1fd993cb39b55b7bfd56b6805b4",
+    "visual_seed": 7226141998497902801,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..32c9441f3e04889b745e74438361d817ad129161
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_45_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.1912381964172136,
+              1.0450193313537788
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+            "lift_margin": 0.18843270859231953,
+            "gripper_z": 1.048924515942809,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.23241834366455974,
+              0.18636658759376296,
+              1.048924515942809
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+              0.004974830625908144,
+              0.0048716088234506405,
+              -0.0039051845890303305
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+            "object_to_gripper_z": -0.0039051845890303305,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23739317429046788,
+              0.1669626111815784,
+              1.0450193313537788
+            ],
+            "finger_b": [
+              0.22540711909393896,
+              0.1912381964172136,
+              1.0450193313537788
+            ],
+            "finger_midpoint": [
+              0.23140014669220343,
+              0.179100403799396,
+              1.0450193313537788
+            ],
+            "object_minus_finger_midpoint": [
+              0.00599302759826445,
+              0.012137792617817583,
+              0.0
+            ],
+            "finger_gap": 0.027073410529647488,
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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": 1.0912790902447305,
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+            "object_projection_between_fingers": 0.8039952441903443,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048499894626974016,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6915757120234128,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
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+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f87ad1f0514962451d81338278dcfd3b6a744f4c64935b85d2c884ff643cf91f",
+    "visual_seed": 1342611323348566551,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..960047f7a1e31c1fea9487f099a507f6a3a13e95
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+          "skill": "pick",
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+              0.19000317742066117,
+              1.0451945780701541
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+              0.18515382418114457,
+              1.049384975150594
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+              0.004849353239516602,
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+              0.16568705839431488,
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+              1.0451945780701541
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+              0.17784511790748803,
+              1.0451945780701541
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                },
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+              ],
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.18955476793974044,
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+              0.19395328596497863,
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+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.0042975455344849145,
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+              0.18134213596003795,
+              1.2371201722751044
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+              0.19395328596497863,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "target": "heater_platform",
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+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1563599837360191,
+            "release_required_pad_clearance": 0.05326281943454263,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5440480643565366,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007870852947235107,
+            "max_z_decrease": 0.007870852947235107,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518160049634006,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007870852947235107,
+            "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": 0.02114446182005103,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007870852947235107,
+            "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": 0.007870875785766824,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16820187866687772,
+              -0.39603900909423817,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16820187866687772,
+              -0.39603900909423817,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17006962017971483,
+              -0.3947014001490621,
+              0.8041166217414799
+            ],
+            "closest_button": [
+              0.1681825518608093,
+              -0.39604210853576655,
+              0.7690112590789795
+            ],
+            "closest_ee_minus_button": [
+              0.0018870683189055326,
+              0.00134070838670447,
+              0.03510536266250042
+            ],
+            "button_min_z_position": [
+              0.16818317770957944,
+              -0.3960421383380889,
+              0.7689380049705505
+            ],
+            "min_active_finger_to_button": 0.14361574687169246,
+            "closest_active_finger": [
+              0.04249653220176697,
+              -0.45633000135421753,
+              0.8108823895454407
+            ],
+            "closest_active_finger_button": [
+              0.16820573806762693,
+              -0.39604124426841725,
+              0.7764158248901367
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12570920586585996,
+              -0.06028875708580028,
+              0.034466564655303955
+            ],
+            "min_contact_pad_to_button": 0.02114446182005103,
+            "closest_contact_pad": [
+              0.16818317770957944,
+              -0.3960421383380889,
+              0.7900824667906016
+            ],
+            "closest_contact_pad_button": [
+              0.16818317770957944,
+              -0.3960421383380889,
+              0.7689380049705505
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02114446182005103
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b78b9ce4bf3ec72ff38c269ae7cf2c95eb94d5b503adba77393386d28dcab89",
+    "visual_seed": 4864245650104047729,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0005a8a82de7bb1b9c0640bfdadf93cf51c99a6a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_47_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.233051873076607,
+              0.18749436311059303,
+              1.044500220790843
+            ],
+            "current_z": 1.044500220790843,
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+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.18791365377763258,
+            "gripper_z": 1.04868260691369,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22793007875916657,
+              0.18268998167460973,
+              1.04868260691369
+            ],
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+              0.00512179431744042,
+              0.0048043814359833015,
+              -0.004182386122847159
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+            "object_to_gripper_xy": 0.007022453845529065,
+            "object_to_gripper_z": -0.004182386122847159,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.233051873076607,
+              0.16292879608682123,
+              1.044500220790843
+            ],
+            "finger_b": [
+              0.22139842388701603,
+              0.18749436311059303,
+              1.044500220790843
+            ],
+            "finger_midpoint": [
+              0.22722514848181152,
+              0.17521157959870715,
+              1.044500220790843
+            ],
+            "object_minus_finger_midpoint": [
+              0.005826724594795468,
+              0.012282783511885886,
+              0.0
+            ],
+            "finger_gap": 0.027189519326641338,
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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": 0.816301371434862,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857342630094118,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6811355525759447,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2322471580687095,
+              0.18733428895750587,
+              1.2400575792561979
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+              0.19177604896620765,
+              1.2357708529855727
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008171170247668533,
+            "max_held_gripper_dist": 0.0081747956397298,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004286726270625207,
+            "max_held_gripper_z_dist": 0.004309219783171558,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08612999948307284,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23760092021529508,
+              0.1665759552408488,
+              1.2357708529855727
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+              0.19177604896620765,
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+            "held_grasp_midpoint": [
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+              0.17917600210352824,
+              1.2357708529855727
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+            "held_grasp_object_position": [
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+                "beaker_b"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint1",
+                "joint2",
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+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32904689389142006,
+              -0.3298122369999055,
+              0.847019541889203
+            ],
+            "target_position": [
+              0.32179876658464507,
+              -0.33202348521350317,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007577926373181269,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.186491029959163,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019541889203,
+            "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": 0.07548093021486964,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08523715383643503,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15507976730225165,
+            "release_required_pad_clearance": 0.052618576918217516,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.29870687136856683,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007915675640106201,
+            "max_z_decrease": 0.007915675640106201,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035069084642428285,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007915675640106201,
+            "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": 0.02115618634592999,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007915675640106201,
+            "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": 0.007915701055901449,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17749869823455802,
+              -0.3882849514484405,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17749869823455802,
+              -0.3882849514484405,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17685305631269269,
+              -0.38751305495361643,
+              0.8074383337842441
+            ],
+            "closest_button": [
+              0.17748668789863575,
+              -0.38828945159912104,
+              0.7723835706710815
+            ],
+            "closest_ee_minus_button": [
+              -0.0006336315859430675,
+              0.0007763966455046067,
+              0.03505476311316258
+            ],
+            "button_min_z_position": [
+              0.17747893929481495,
+              -0.3882884085178374,
+              0.7688931822776794
+            ],
+            "min_active_finger_to_button": 0.14644191854737304,
+            "closest_active_finger": [
+              0.049481846392154694,
+              -0.45042312145233154,
+              0.8108925819396973
+            ],
+            "closest_active_finger_button": [
+              0.17750278115272516,
+              -0.3882869184017181,
+              0.7763242721557617
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12802093476057047,
+              -0.06213620305061346,
+              0.03456830978393555
+            ],
+            "min_contact_pad_to_button": 0.02115618634592999,
+            "closest_contact_pad": [
+              0.17747893929481495,
+              -0.38878876884830915,
+              0.7900434508396482
+            ],
+            "closest_contact_pad_button": [
+              0.17747893929481495,
+              -0.3882884085178374,
+              0.7688931822776794
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005003603304717386,
+              0.021150268561968777
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b43e324c67908f9f6efd141a1e28562756ff4c33a0d854c60e3e9afd1e0cc6c7",
+    "visual_seed": 5562304159917102550,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..25299303469df8a933adc7d3010aba61cd210794
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_48_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23734642126174707,
+              0.1910329519371294,
+              1.0453926883735465
+            ],
+            "current_z": 1.0453926883735465,
+            "required_z": 0.8565867308325051,
+            "initial_z": 0.7565867308325052,
+            "lift_margin": 0.18880595754104135,
+            "gripper_z": 1.0494145989390968,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23236951770353925,
+              0.18618222512585625,
+              1.0494145989390968
+            ],
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+              0.17556020744170636,
+              -0.3863886495599602,
+              0.8042157236115559
+            ],
+            "closest_button": [
+              0.1743745356798172,
+              -0.3868998587131499,
+              0.7691954374313354
+            ],
+            "closest_ee_minus_button": [
+              0.0011856717618891621,
+              0.0005112091531896956,
+              0.03502028618022046
+            ],
+            "button_min_z_position": [
+              0.1743745356798172,
+              -0.3868998587131499,
+              0.7691954374313354
+            ],
+            "min_active_finger_to_button": 0.14465220113651328,
+            "closest_active_finger": [
+              0.04771028459072113,
+              -0.4474080204963684,
+              0.8079898357391357
+            ],
+            "closest_active_finger_button": [
+              0.1744062304496765,
+              -0.38690072298049916,
+              0.7731866240501404
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12669594585895538,
+              -0.06050729751586925,
+              0.03480321168899536
+            ],
+            "min_contact_pad_to_button": 0.021237320437675757,
+            "closest_contact_pad": [
+              0.1743745356798172,
+              -0.38776752717467566,
+              0.7904150258065465
+            ],
+            "closest_contact_pad_button": [
+              0.1743745356798172,
+              -0.3868998587131499,
+              0.7691954374313354
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008676684615257502,
+              0.021219588375211096
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "88046165fce9511983aed2f8c97f542b2539b74037ab87ebb469094373188516",
+    "visual_seed": 1887430176934779786,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..66eede0af1f1062298efb716d033d06a2d2c9c7c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_49_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.23266527919504676,
+              0.18665808012791957,
+              1.0471395212389434
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+            "gripper_z": 1.0512180967234166,
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+            "gripper_position": [
+              0.22748666473304666,
+              0.1818850992015617,
+              1.0512180967234166
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+              0.005178614462000103,
+              0.0047729809263578615,
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+            "object_to_gripper_xy": 0.007042683768948636,
+            "object_to_gripper_z": -0.0040785754844732125,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23266527919504676,
+              0.16192032676638984,
+              1.0471395212389434
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+              0.18665808012791957,
+              1.0471395212389434
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+              0.1742892034471547,
+              1.0471395212389434
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+              0.005716170122455538,
+              0.012368876680764862,
+              0.0
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+            "finger_gap": 0.02725169434826555,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.01037771852676383,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04850275334681031,
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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": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+      },
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+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.1867505436558243,
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+              0.19122066978366495,
+              1.2382855995848603
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008136070205426234,
+            "max_held_gripper_dist": 0.008144145653890895,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004183801803727016,
+            "max_held_gripper_z_dist": 0.004205633359273264,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08697990035542688,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.16601283784526522,
+              1.2382855995848603
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+              0.19122066978366495,
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+              0.17861675381446507,
+              1.2382855995848603
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+            "held_grasp_object_position": [
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+              0.19122066978366495,
+              1.2382855995848603
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02472365244871592,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9987495377492396,
+              0.022930140348968342
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004539065030123866,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3236232931656346,
+              -0.3274442347524237,
+              0.8470196606842572
+            ],
+            "target_position": [
+              0.31498373900907584,
+              -0.3304899126921781,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00916067956741302,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1869225575043219,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196606842572,
+            "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": 0.07550638463338505,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08550046768214307,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15553045835409415,
+            "release_required_pad_clearance": 0.05275023384107154,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5510727764101172,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008041322231292725,
+            "max_z_decrease": 0.008041322231292725,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035145313170154145,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008041322231292725,
+            "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": 0.02123189992918577,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008041322231292725,
+            "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": 0.008041330741888435,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1706836670637131,
+              -0.38675138354301447,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1706836670637131,
+              -0.38675138354301447,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17067549834515253,
+              -0.38828174435758134,
+              0.8076437652860309
+            ],
+            "closest_button": [
+              0.17067322134971624,
+              -0.3867563903331756,
+              0.7725315690040588
+            ],
+            "closest_ee_minus_button": [
+              2.276995436284457e-06,
+              -0.001525354024405734,
+              0.03511219628197204
+            ],
+            "button_min_z_position": [
+              0.1706719696521759,
+              -0.3867515921592712,
+              0.7687675356864929
+            ],
+            "min_active_finger_to_button": 0.14603194784360923,
+            "closest_active_finger": [
+              0.02941327542066574,
+              -0.3730674982070923,
+              0.8103885650634766
+            ],
+            "closest_active_finger_button": [
+              0.17068631947040558,
+              -0.38675621151924133,
+              0.7760392427444458
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14127304404973984,
+              0.013688713312149048,
+              0.03434932231903076
+            ],
+            "min_contact_pad_to_button": 0.02123189992918577,
+            "closest_contact_pad": [
+              0.1706719696521759,
+              -0.3894101434739872,
+              0.7898323328492947
+            ],
+            "closest_contact_pad_button": [
+              0.1706719696521759,
+              -0.3867515921592712,
+              0.7687675356864929
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00265855131471604,
+              0.02106479716280174
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cc1a639fdeaff1f67feead5057dd876e9dc6659c2948780ab269bad588882e95",
+    "visual_seed": 2813414333338034549,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..21b5ffe8c9fd322dad5f4243e2e5c366983eaac2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_4_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23920148688420767,
+              0.183637889771742,
+              1.0470254817391977
+            ],
+            "current_z": 1.0470254817391977,
+            "required_z": 0.8565866284249389,
+            "initial_z": 0.756586628424939,
+            "lift_margin": 0.1904388533142588,
+            "gripper_z": 1.0510391976326303,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23392496416536826,
+              0.17879831588896616,
+              1.0510391976326303
+            ],
+            "object_minus_gripper": [
+              0.00527652271883941,
+              0.004839573882775838,
+              -0.004013715893432579
+            ],
+            "object_to_gripper_xy": 0.007159830121537413,
+            "object_to_gripper_z": -0.004013715893432579,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23920148688420767,
+              0.15889948160955955,
+              1.0470254817391977
+            ],
+            "finger_b": [
+              0.22758015564480305,
+              0.183637889771742,
+              1.0470254817391977
+            ],
+            "finger_midpoint": [
+              0.23339082126450536,
+              0.1712686856906508,
+              1.0470254817391977
+            ],
+            "object_minus_finger_midpoint": [
+              0.00581066561970231,
+              0.012369204081091212,
+              0.0
+            ],
+            "finger_gap": 0.027332108922926108,
+            "fingertip_max_gap": 0.09187742405258659,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013666054461463042,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470254817391977,
+            "object_top_z": 1.0930325236077558,
+            "finger_top_clearance": 0.046007041868558085,
+            "fingertip_min_top_clearance": 0.013802112560567426,
+            "object_projection_between_fingers": 0.8192137175796599,
+            "object_to_finger_line_xy": 0.010518516386679728,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048438712026293296,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5825077164455018,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+            "forbidden": [],
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heat_button",
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+        "ordinary_object_physical_only": true
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+    }
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+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
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+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2f74df38e0e0e1c94c5730ed688d81f28da8fdc98c7006c77db7730353824330",
+    "visual_seed": 8808359425750424725,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c56dd2d821c213a519d279f9913a2a74188a2a6a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_50_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+              0.16894431366694435,
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+            "stable_success_frames": 214,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "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",
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+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "passed": true,
+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
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+          "passed": true,
+          "metrics": {
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+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_min_pad_clearance": 0.15448001837112682,
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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_max_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
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00794905424118042,
+            "max_z_decrease": 0.00794905424118042,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505843176781214,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00794905424118042,
+            "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": 0.02116961833072063,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00794905424118042,
+            "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": 0.007949078426158534,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1747676432132721,
+              -0.39327976107597357,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1747676432132721,
+              -0.39327976107597357,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1743977615039991,
+              -0.3928445650495536,
+              0.807368886313079
+            ],
+            "closest_button": [
+              0.17475567758083344,
+              -0.39328315854072576,
+              0.7723150253295898
+            ],
+            "closest_ee_minus_button": [
+              -0.00035791607683433035,
+              0.00043859349117214563,
+              0.03505386098348917
+            ],
+            "button_min_z_position": [
+              0.17474827170372012,
+              -0.39328280091285706,
+              0.7688598036766052
+            ],
+            "min_active_finger_to_button": 0.14634419020345427,
+            "closest_active_finger": [
+              0.046560779213905334,
+              -0.4547884464263916,
+              0.810924768447876
+            ],
+            "closest_active_finger_button": [
+              0.1747713685035706,
+              -0.3932814598083496,
+              0.7763479351997375
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12821058928966528,
+              -0.06150698661804199,
+              0.03457683324813843
+            ],
+            "min_contact_pad_to_button": 0.02116961833072063,
+            "closest_contact_pad": [
+              0.17474827170372012,
+              -0.3942052861999514,
+              0.7900093133910993
+            ],
+            "closest_contact_pad_button": [
+              0.17474827170372012,
+              -0.39328280091285706,
+              0.7688598036766052
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009224852870943212,
+              0.02114950971449403
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7f7f72abd425296044906b2288d2db00d05eb261155732e6289cf589d61ae5e8",
+    "visual_seed": 4431766304320244112,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4efd904c2ce3faa5328926bcc40a2216cf3a6581
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_51_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23784626736970008,
+              0.18997184573300666,
+              1.0446464390693397
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+            "current_z": 1.0446464390693397,
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+            "lift_margin": 0.18805986057956592,
+            "gripper_z": 1.048888740532273,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2324228561470321,
+              0.1850481508543385,
+              1.048888740532273
+            ],
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+              0.005423411222667984,
+              0.0049236948786681445,
+              -0.004242301462933362
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+            "object_to_gripper_xy": 0.007325036556112464,
+            "object_to_gripper_z": -0.004242301462933362,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23784626736970008,
+              0.1651193893770653,
+              1.0446464390693397
+            ],
+            "finger_b": [
+              0.22611434129148716,
+              0.18997184573300666,
+              1.0446464390693397
+            ],
+            "finger_midpoint": [
+              0.23198030433059363,
+              0.17754561755503598,
+              1.0446464390693397
+            ],
+            "object_minus_finger_midpoint": [
+              0.005865963039106442,
+              0.012426228177970677,
+              0.0
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+            "finger_gap": 0.027482406670970832,
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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": 0.010609230273049337,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04913061780049165,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9995564718655385,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23694073132476365,
+              0.18930800038846946,
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+            "held_position": [
+              0.2425606906495383,
+              0.19387080032504111,
+              1.2331067829068258
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00846346401309127,
+            "max_held_gripper_dist": 0.008466528411966812,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004384875942098132,
+            "max_held_gripper_z_dist": 0.0044113379971033595,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08699455167079939,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2425606906495383,
+              0.16843590491132243,
+              1.2331067829068258
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+            "held_grasp_midpoint": [
+              0.2374723308550239,
+              0.18115335261818177,
+              1.2331067829068258
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+            "held_grasp_object_position": [
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+              0.19387080032504111,
+              1.2331067829068258
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+            "held_grasp_finger_gap": 0.027395246417955984,
+            "held_grasp_max_gap": 0.12496565788984298,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+                "beaker_b"
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+                "/World/target_beaker"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
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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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.327990219103109,
+              -0.3305726921550175,
+              0.8470193826118195
+            ],
+            "target_position": [
+              0.3209808271404206,
+              -0.33252927431482693,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007277347692304204,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18385697969825826,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193826118195,
+            "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": 0.07566211928024592,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0864822749338948,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15201531919537833,
+            "release_required_pad_clearance": 0.053241137466947405,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.500340743476475,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007842957973480225,
+            "max_z_decrease": 0.007842957973480225,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035139939133994845,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007842957973480225,
+            "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": 0.021155050308804824,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007842957973480225,
+            "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": 0.00784298315557892,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17668075859546659,
+              -0.3887907266616821,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17668075859546659,
+              -0.3887907266616821,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17696356359064772,
+              -0.3865649849103214,
+              0.8076598519182888
+            ],
+            "closest_button": [
+              0.17667095363140103,
+              -0.3887947499752044,
+              0.7725919485092163
+            ],
+            "closest_ee_minus_button": [
+              0.0002926099592466813,
+              0.002229765064883038,
+              0.03506790340907251
+            ],
+            "button_min_z_position": [
+              0.17666120827198029,
+              -0.38879430294036854,
+              0.7689658999443054
+            ],
+            "min_active_finger_to_button": 0.14501995030974119,
+            "closest_active_finger": [
+              0.0497184693813324,
+              -0.44976314902305603,
+              0.8109419941902161
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+            "closest_active_finger_button": [
+              0.1766845881938934,
+              -0.3887929022312164,
+              0.7764018774032593
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.126966118812561,
+              -0.060970246791839655,
+              0.03454011678695679
+            ],
+            "min_contact_pad_to_button": 0.021155050308804824,
+            "closest_contact_pad": [
+              0.17666120827198029,
+              -0.38879430294036854,
+              0.7901209502531102
+            ],
+            "closest_contact_pad_button": [
+              0.17666120827198029,
+              -0.38879430294036854,
+              0.7689658999443054
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021155050308804824
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a004093a7715636216dc2f072b35c8773cf4a0bbecc400f8b64290d64b0760fc",
+    "visual_seed": 1089392377323772485,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..54d4e522a9b2a92cbe23613757920231c98e3475
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_52_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.235753809183523,
+              0.18775819342766803,
+              1.0472139075982956
+            ],
+            "current_z": 1.0472139075982956,
+            "required_z": 0.8565866349661407,
+            "initial_z": 0.7565866349661408,
+            "lift_margin": 0.19062727263215484,
+            "gripper_z": 1.0509866789882671,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23086173662176412,
+              0.18291223120595615,
+              1.0509866789882671
+            ],
+            "object_minus_gripper": [
+              0.004892072561758887,
+              0.00484596222171188,
+              -0.003772771389971563
+            ],
+            "object_to_gripper_xy": 0.00688590762381931,
+            "object_to_gripper_z": -0.003772771389971563,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
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+            "closest_active_finger_minus_button": [
+              -0.14136669039726257,
+              0.015741556882858276,
+              0.03445667028427124
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+            "closest_contact_pad": [
+              0.17362675070762634,
+              -0.39619683525305754,
+              0.7898841437938389
+            ],
+            "closest_contact_pad_button": [
+              0.17362675070762634,
+              -0.3947850167751312,
+              0.7687812447547913
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014118184779263188,
+              0.021102899039047607
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3f9b343f8411ae74c264812e0b886107317a6c8842234f36a5de57a07814d2be",
+    "visual_seed": 6835743451222270607,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5853f39cbf3e7dcfd60d45914f6b5a03583a4544
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_53_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+              0.2306777609947597,
+              0.1933838136124755,
+              1.0463277885276812
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+            "gripper_z": 1.050426310213466,
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+            "gripper_position": [
+              0.2255279161708518,
+              0.18862181578811255,
+              1.050426310213466
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+              0.004761997824362957,
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+            "object_to_gripper_z": -0.0040985216857849505,
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+              0.2306777609947597,
+              0.16868294632192338,
+              1.0463277885276812
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+              0.1933838136124755,
+              1.0463277885276812
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+              0.18103337996719943,
+              1.0463277885276812
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+              0.012350433645276077,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
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+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
+        },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.19322424754670947,
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+            "held_shake_count": 5,
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+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.004245698184111912,
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+            "held_object_xy_range": 0.08623121280835977,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.17241760757451474,
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+              0.18503832400957315,
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+              1.2365160262366433
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9987073135484903,
+              0.03485772724200287
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+            "held_grasp_object_to_finger_line_xy": 0.004563257512990965,
+            "held_grasp_line_xy_max_dist": 0.047482802867889404,
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+            "held_grasp_min_top_clearance": 0.013560142368078232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32268643945065056,
+              -0.32889268167530444,
+              0.8470196121366662
+            ],
+            "target_position": [
+              0.3155410162210797,
+              -0.33082339438310676,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00740167039861679,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1859478668972964,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196121366662,
+            "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": 0.07512937801064694,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08557675112249828,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15543919326450395,
+            "release_required_pad_clearance": 0.05278837556124914,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6243209071082741,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008029818534851074,
+            "max_z_decrease": 0.008029818534851074,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513387627751496,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008029818534851074,
+            "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": 0.02109231326554053,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008029818534851074,
+            "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": 0.008029841803751294,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1712409406900406,
+              -0.38708484172821045,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1712409406900406,
+              -0.38708484172821045,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1716500314892563,
+              -0.38608764986735944,
+              0.8078867647748654
+            ],
+            "closest_button": [
+              0.17123821377754211,
+              -0.38709506392478943,
+              0.7727697491645813
+            ],
+            "closest_ee_minus_button": [
+              0.00041181771171419634,
+              0.0010074140574299895,
+              0.03511701561028413
+            ],
+            "button_min_z_position": [
+              0.17122182250022888,
+              -0.38708770275115967,
+              0.7687790393829346
+            ],
+            "min_active_finger_to_button": 0.14537833048524687,
+            "closest_active_finger": [
+              0.044862695038318634,
+              -0.4502313733100891,
+              0.8109455704689026
+            ],
+            "closest_active_finger_button": [
+              0.17124508321285248,
+              -0.3870872259140014,
+              0.7766648530960083
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12638238817453384,
+              -0.0631441473960877,
+              0.03428071737289429
+            ],
+            "min_contact_pad_to_button": 0.02109231326554053,
+            "closest_contact_pad": [
+              0.17122182250022888,
+              -0.38717389321832374,
+              0.7898711765457511
+            ],
+            "closest_contact_pad_button": [
+              0.17122182250022888,
+              -0.38708770275115967,
+              0.7687790393829346
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -8.61904671640712e-05,
+              0.02109213716281655
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f625b7f022376a6f3023ca2d9aa16895ead37d8d85709baa9d63c0629cca7fa",
+    "visual_seed": 5125798165977627904,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..df9bef7adf04e4da06dac47b56ab5396ede63f94
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_54_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2337261864808377,
+              0.19062271591638194,
+              1.046956865185683
+            ],
+            "current_z": 1.046956865185683,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19037035777711753,
+            "gripper_z": 1.051209251104293,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22857960696584012,
+              0.1857093066032688,
+              1.051209251104293
+            ],
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+              0.005146579514997585,
+              0.004913409313113154,
+              -0.00425238591860988
+            ],
+            "object_to_gripper_xy": 0.007115396811308548,
+            "object_to_gripper_z": -0.00425238591860988,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2337261864808377,
+              0.1661586196790839,
+              1.046956865185683
+            ],
+            "finger_b": [
+              0.22176379847039687,
+              0.19062271591638194,
+              1.046956865185683
+            ],
+            "finger_midpoint": [
+              0.2277449924756173,
+              0.17839066779773294,
+              1.046956865185683
+            ],
+            "object_minus_finger_midpoint": [
+              0.005981194005220403,
+              0.012232048118649003,
+              0.0
+            ],
+            "finger_gap": 0.02723216355011328,
+            "fingertip_max_gap": 0.09225616726053992,
+            "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": 1.046956865185683,
+            "object_top_z": 1.0933429919301625,
+            "finger_top_clearance": 0.046386126744479395,
+            "fingertip_min_top_clearance": 0.013915838023343818,
+            "object_projection_between_fingers": 0.8070381400267537,
+            "object_to_finger_line_xy": 0.010746447338889737,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048628083630269964,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8119141924198299,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
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+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ecad60dcbcec85fb3f8597812eb18fbc4370ee8cea45c4bff90ccb71eeaa08d4",
+    "visual_seed": 3307267726633525322,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..afa56a5b6dbd29a618bd2fe52c8ae30cff0a64b9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_55_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.18615543339954635,
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+              1.0508942443494018
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+              0.1739580882047888,
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+              1.0
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+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_shake_count": 5,
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+              0.17764599680378532,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+        "post_done_wait_frames": 0,
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_min_pad_clearance": 0.1543069824343045,
+            "release_required_pad_clearance": 0.05265247050685011,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.36261576992758354,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007603168487548828,
+            "max_z_decrease": 0.007603168487548828,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503949301555261,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007603168487548828,
+            "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": 0.021213554317133298,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007603168487548828,
+            "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": 0.007603195944722775,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17440386116504675,
+              -0.3869529664516449,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17440386116504675,
+              -0.3869529664516449,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17306798150617986,
+              -0.38676474373576014,
+              0.8076066103139582
+            ],
+            "closest_button": [
+              0.1743918359279633,
+              -0.38695716857910156,
+              0.7725926637649536
+            ],
+            "closest_ee_minus_button": [
+              -0.0013238544217834547,
+              0.00019242484334142107,
+              0.03501394654900458
+            ],
+            "button_min_z_position": [
+              0.17438380420207983,
+              -0.38695687055587763,
+              0.7692056894302368
+            ],
+            "min_active_finger_to_button": 0.14734200674880762,
+            "closest_active_finger": [
+              0.04471869766712189,
+              -0.44767510890960693,
+              0.8088927268981934
+            ],
+            "closest_active_finger_button": [
+              0.17441084980964666,
+              -0.3869574964046478,
+              0.774208664894104
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12969215214252477,
+              -0.060717612504959106,
+              0.034684062004089355
+            ],
+            "min_contact_pad_to_button": 0.021213554317133298,
+            "closest_contact_pad": [
+              0.17438380420207983,
+              -0.3882489453656255,
+              0.79037985835022
+            ],
+            "closest_contact_pad_button": [
+              0.17438380420207983,
+              -0.38695687055587763,
+              0.7692056894302368
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012920748097478563,
+              0.02117416891998314
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eaa41f326b360eb0e921c73911d62a042029d3d031551975d8a5129b4e2e56cc",
+    "visual_seed": 3909129910156279137,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ece327a5fd83b63ecba32b927da2c2c1323eca5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_56_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2351502012819655,
+              0.19150245315600775,
+              1.04402664958096
+            ],
+            "current_z": 1.04402664958096,
+            "required_z": 0.8565865670132103,
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+            "lift_margin": 0.1874400825677497,
+            "gripper_z": 1.0481182766189827,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23007275799596488,
+              0.18673790182434147,
+              1.0481182766189827
+            ],
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+              0.005077443286000627,
+              0.0047645513316662835,
+              -0.004091627038022683
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+            "object_to_gripper_xy": 0.006962857151675295,
+            "object_to_gripper_z": -0.004091627038022683,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2351502012819655,
+              0.16693586861279736,
+              1.04402664958096
+            ],
+            "finger_b": [
+              0.22359306954243297,
+              0.19150245315600775,
+              1.04402664958096
+            ],
+            "finger_midpoint": [
+              0.22937163541219924,
+              0.17921916088440254,
+              1.04402664958096
+            ],
+            "object_minus_finger_midpoint": [
+              0.005778565869766272,
+              0.012283292271605212,
+              0.0
+            ],
+            "finger_gap": 0.02714929778398724,
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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": 0.01045770156617838,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868977383694095,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7944056611090227,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2345202749921338,
+              0.19114067821106293,
+              1.2377635581645632
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+              0.19554008908104356,
+              1.233543952249353
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008074906547014309,
+            "max_held_gripper_dist": 0.008078715345702323,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0042196059152102006,
+            "max_held_gripper_z_dist": 0.004244298868871121,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08637292872369562,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.17030409390738685,
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+            "held_grasp_finger_b": [
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+            "held_grasp_midpoint": [
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+              0.1829220914942152,
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+            "held_grasp_object_position": [
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+              0.19554008908104356,
+              1.233543952249353
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+            "held_grasp_finger_gap": 0.027118601498031566,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024529975877711406,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06485925384882826,
+              -0.9975390925675,
+              0.02662772971513272
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004149076985027193,
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+                "beaker_b"
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+              ],
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3208528900062797,
+              -0.3327579672256661,
+              0.8470195155086864
+            ],
+            "target_position": [
+              0.3124734836362768,
+              -0.3356060554593233,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008850200997736823,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18678089461627018,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195155086864,
+            "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": 0.0752211848185918,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860709432161517,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1561267371528325,
+            "release_required_pad_clearance": 0.053035471608075854,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1007271347176453,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008076488971710205,
+            "max_z_decrease": 0.008076488971710205,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515470105186461,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008076488971710205,
+            "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": 0.021078084000936363,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008076488971710205,
+            "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": 0.008076494220892466,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16817340254783625,
+              -0.39186751842498774,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16817340254783625,
+              -0.39186751842498774,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.169806933537876,
+              -0.39227334951313575,
+              0.8038465099950746
+            ],
+            "closest_button": [
+              0.16817039251327512,
+              -0.3918588161468505,
+              0.7687323689460754
+            ],
+            "closest_ee_minus_button": [
+              0.0016365410246008683,
+              -0.0004145333662852746,
+              0.035114141048999126
+            ],
+            "button_min_z_position": [
+              0.16817039251327512,
+              -0.3918588161468505,
+              0.7687323689460754
+            ],
+            "min_active_finger_to_button": 0.14409543565751157,
+            "closest_active_finger": [
+              0.02887846529483795,
+              -0.37824392318725586,
+              0.8102791905403137
+            ],
+            "closest_active_finger_button": [
+              0.16817463934421534,
+              -0.39187213778495783,
+              0.7760105133056641
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13929617404937739,
+              0.01362821459770197,
+              0.03426867723464966
+            ],
+            "min_contact_pad_to_button": 0.021078084000936363,
+            "closest_contact_pad": [
+              0.16817039251327512,
+              -0.39326444615633255,
+              0.7897635322383656
+            ],
+            "closest_contact_pad_button": [
+              0.16817039251327512,
+              -0.3918588161468505,
+              0.7687323689460754
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014056300094820728,
+              0.021031163292290156
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "452b300dcfea234bc3b97cd470675808166a9e3dbfc56fe76a5ad6576849326d",
+    "visual_seed": 3380167352612457514,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fa912f4b9ad16e177a94c977a281de096fbb5ca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_57_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2372309664731814,
+              0.18780977168676136,
+              1.0455913931690946
+            ],
+            "current_z": 1.0455913931690946,
+            "required_z": 0.8565865801782713,
+            "initial_z": 0.7565865801782713,
+            "lift_margin": 0.18900481299082328,
+            "gripper_z": 1.0496285585372558,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23184179099778654,
+              0.18291849586828088,
+              1.0496285585372558
+            ],
+            "object_minus_gripper": [
+              0.005389175475394858,
+              0.004891275818480478,
+              -0.004037165368161233
+            ],
+            "object_to_gripper_xy": 0.007277897459915829,
+            "object_to_gripper_z": -0.004037165368161233,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2372309664731814,
+              0.16295187509934708,
+              1.0455913931690946
+            ],
+            "finger_b": [
+              0.22558419317540532,
+              0.18780977168676136,
+              1.0455913931690946
+            ],
+            "finger_midpoint": [
+              0.23140757982429336,
+              0.17538082339305422,
+              1.0455913931690946
+            ],
+            "object_minus_finger_midpoint": [
+              0.00582338664888804,
+              0.012428948293707137,
+              0.0
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+              0.013830125331878662,
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+              0.17518179118633267,
+              -0.390208685027993,
+              0.7899558960357519
+            ],
+            "closest_contact_pad_button": [
+              0.17518179118633267,
+              -0.3890364170074463,
+              0.7688456773757935
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011722680205467073,
+              0.021110218659958435
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db2bc0d230312d8a0ed851e463fa0f7b1c3fa4199e1fbbe47fd1b21411516b65",
+    "visual_seed": 3783001829363752600,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..260e5242c72d5cb30fcfaff4dfd0fb95060a066e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_58_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.18767694758518538,
+              1.045812534877412
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+            "gripper_position": [
+              0.22843890849037238,
+              0.18277800821609017,
+              1.050067957039281
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+              0.004898939369095218,
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+            "object_to_gripper_z": -0.004255422161868916,
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+              0.1632709570122516,
+              1.045812534877412
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+              1.045812534877412
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+              0.17547395229871848,
+              1.045812534877412
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+              0.0122029952864669,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.004391139772614183,
+            "max_held_gripper_z_dist": 0.004413924831700111,
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+            "held_object_xy_range": 0.08619316821510692,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.16643165650522926,
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+              0.17906966125657764,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3270092557565162,
+              -0.3287481991255191,
+              0.847019407342801
+            ],
+            "target_position": [
+              0.31994352811686505,
+              -0.3307613081894214,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007346911948628177,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18497009511026552,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019407342801,
+            "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": 0.07585526168915772,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08534264198385454,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1526170984383482,
+            "release_required_pad_clearance": 0.05267132099192727,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3995838814953258,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00780409574508667,
+            "max_z_decrease": 0.00780409574508667,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035153480920245554,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00780409574508667,
+            "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": 0.02115531129114201,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00780409574508667,
+            "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": 0.007804116949502655,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1756434589624405,
+              -0.3870227634906768,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1756434589624405,
+              -0.3870227634906768,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1769959794796202,
+              -0.38544527074645435,
+              0.8046020123957197
+            ],
+            "closest_button": [
+              0.17562530934810638,
+              -0.38702636957168574,
+              0.7695108652114868
+            ],
+            "closest_ee_minus_button": [
+              0.0013706701315138181,
+              0.0015810988252313862,
+              0.035091147184232896
+            ],
+            "button_min_z_position": [
+              0.17562565207481384,
+              -0.3870264887809753,
+              0.769004762172699
+            ],
+            "min_active_finger_to_button": 0.14400481205496507,
+            "closest_active_finger": [
+              0.050317130982875824,
+              -0.44898247718811035,
+              0.8109598159790039
+            ],
+            "closest_active_finger_button": [
+              0.1756473332643509,
+              -0.38702487945556635,
+              0.7764492034912109
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12533020228147507,
+              -0.061957597732544,
+              0.03451061248779297
+            ],
+            "min_contact_pad_to_button": 0.02115531129114201,
+            "closest_contact_pad": [
+              0.17562565207481384,
+              -0.3870264887809753,
+              0.790160073463841
+            ],
+            "closest_contact_pad_button": [
+              0.17562565207481384,
+              -0.3870264887809753,
+              0.769004762172699
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02115531129114201
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b13afecaae6b2046298f651b5f18cc6e360cb729735f3510ec43cbf2841e4c7",
+    "visual_seed": 7776654238911740950,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0268176d7d1b75bef4ab38b78e6082166e11c8c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_59_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23228716271718752,
+              0.18728800336640877,
+              1.0448244272625014
+            ],
+            "current_z": 1.0448244272625014,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.188237860249291,
+            "gripper_z": 1.0490954274011217,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22721274403916392,
+              0.1824607781245708,
+              1.0490954274011217
+            ],
+            "object_minus_gripper": [
+              0.005074418678023607,
+              0.004827225241837985,
+              -0.004271000138620362
+            ],
+            "object_to_gripper_xy": 0.007003701054107937,
+            "object_to_gripper_z": -0.004271000138620362,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23228716271718752,
+              0.1628073750450044,
+              1.0448244272625014
+            ],
+            "finger_b": [
+              0.22053836537225238,
+              0.18728800336640877,
+              1.0448244272625014
+            ],
+            "finger_midpoint": [
+              0.22641276404471994,
+              0.17504768920570657,
+              1.0448244272625014
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058743986724675845,
+              0.012240314160702204,
+              0.0
+            ],
+            "finger_gap": 0.027153920565235166,
+            "fingertip_max_gap": 0.09239936071298899,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013576960282617602,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0448244272625014,
+            "object_top_z": 1.0912515315136626,
+            "finger_top_clearance": 0.046427104251161255,
+            "fingertip_min_top_clearance": 0.013928131275348376,
+            "object_projection_between_fingers": 0.8127931485913624,
+            "object_to_finger_line_xy": 0.010592133107772798,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048699680356494496,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8054592532377957,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+      838946150517897658,
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "74a27b17c65073407705596bfb4917fa9561e4e9bb7d2f11d47655ddd907492b",
+    "visual_seed": 1629184757224317935,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f48f4d7091206a4f92b587ad4d8f0dc1096319c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_5_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "desk",
+                "floor",
+                "ground",
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+                "wheel",
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+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "shake",
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+          "metrics": {
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+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
+                "wheel",
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
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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",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
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+                "panda_leftfinger",
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+                "panda_rightfingertip",
+                "ridgebase",
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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"
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+                "base_link",
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+                "desk",
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+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007803022861480713,
+            "max_z_decrease": 0.007803022861480713,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510676841395617,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007803022861480713,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021157798394596194,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007803022861480713,
+            "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": 0.007803041977725858,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17219594120979306,
+              -0.3940621614456177,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17219594120979306,
+              -0.3940621614456177,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17200326271500696,
+              -0.3923286232426332,
+              0.8076247920677602
+            ],
+            "closest_button": [
+              0.17218470573425293,
+              -0.3940656185150146,
+              0.7725614905357361
+            ],
+            "closest_ee_minus_button": [
+              -0.00018144301924596928,
+              0.0017369952723814142,
+              0.03506330153202408
+            ],
+            "button_min_z_position": [
+              0.17217904329299924,
+              -0.3940657377243042,
+              0.7690058350563049
+            ],
+            "min_active_finger_to_button": 0.14566392615923401,
+            "closest_active_finger": [
+              0.043922699987888336,
+              -0.4538045823574066,
+              0.8110032081604004
+            ],
+            "closest_active_finger_button": [
+              0.17220039665699002,
+              -0.39406442642211914,
+              0.776449978351593
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1282776966691017,
+              -0.059740155935287476,
+              0.03455322980880737
+            ],
+            "min_contact_pad_to_button": 0.021157798394596194,
+            "closest_contact_pad": [
+              0.17217904329299924,
+              -0.3940657377243042,
+              0.7901636334509011
+            ],
+            "closest_contact_pad_button": [
+              0.17217904329299924,
+              -0.3940657377243042,
+              0.7690058350563049
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021157798394596194
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8924d1a5292610d18c907c66cf123d635eedea6a505120a6acb2290b9d205253",
+    "visual_seed": 8149663135713866066,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3552c013ec656d1e0d8f8ab2cc87dc51bad9f74
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_60_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23042839767732146,
+              0.19516588124789241,
+              1.0455298328767069
+            ],
+            "current_z": 1.0455298328767069,
+            "required_z": 0.8565867901653329,
+            "initial_z": 0.7565867901653329,
+            "lift_margin": 0.18894304271137397,
+            "gripper_z": 1.0494864388585303,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22518423832715706,
+              0.19037345345354445,
+              1.0494864388585303
+            ],
+            "object_minus_gripper": [
+              0.005244159350164396,
+              0.004792427794347964,
+              -0.003956605981823458
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+            "object_to_gripper_xy": 0.007104123552835744,
+            "object_to_gripper_z": -0.003956605981823458,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23042839767732146,
+              0.1703695998002384,
+              1.0455298328767069
+            ],
+            "finger_b": [
+              0.21897906769031975,
+              0.19516588124789241,
+              1.0455298328767069
+            ],
+            "finger_midpoint": [
+              0.2247037326838206,
+              0.18276774052406541,
+              1.0455298328767069
+            ],
+            "object_minus_finger_midpoint": [
+              0.005724664993500855,
+              0.012398140723827,
+              0.0
+            ],
+            "finger_gap": 0.02731195215986083,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_top_z": 1.0912417626976474,
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+            "object_projection_between_fingers": 0.824266459418754,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802800720626417,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2242055550546797,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22963215998993264,
+              0.19478146360910487,
+              1.2401943228600338
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+            "held_position": [
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+              0.19925319615185583,
+              1.236118744742606
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008135138780528416,
+            "max_held_gripper_dist": 0.00813690668464233,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004075578117427758,
+            "max_held_gripper_z_dist": 0.00410201948732003,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08642230688839,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2350703356080332,
+              0.17394604189280918,
+              1.236118744742606
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+            "held_grasp_finger_b": [
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+              0.19925319615185583,
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+            "held_grasp_midpoint": [
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+              0.18659961902233252,
+              1.236118744742606
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+            "held_grasp_object_position": [
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+              0.19925319615185583,
+              1.236118744742606
+            ],
+            "held_grasp_finger_gap": 0.027242753364401788,
+            "held_grasp_max_gap": 0.12496553122997284,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024765765358981187,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05012786079350913,
+              -0.9985842452388283,
+              0.017796143769552075
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0044079409570598116,
+            "held_grasp_line_xy_max_dist": 0.04748276561498642,
+            "held_grasp_object_top_z": 0.04520042613148689,
+            "held_grasp_top_clearance": 0.0323119832760648,
+            "held_grasp_min_top_clearance": 0.013560127839446068
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
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+                "Robotiq2F85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32801253218311877,
+              -0.32965385352928495,
+              0.8470180188106958
+            ],
+            "target_position": [
+              0.320027845130061,
+              -0.332032077069812,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008331336900161074,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1885349449323701,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470180188106958,
+            "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": 0.07513717024310806,
+            "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": 0.15800866981021713,
+            "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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007856488227844238,
+            "max_z_decrease": 0.007856488227844238,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511783452980232,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007856488227844238,
+            "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": 0.02119301505814964,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007856488227844238,
+            "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": 0.007856510280141338,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17572776973247523,
+              -0.3882935345172882,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17572776973247523,
+              -0.3882935345172882,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17474546216186013,
+              -0.38942127941258103,
+              0.8064517930568338
+            ],
+            "closest_button": [
+              0.17571240663528437,
+              -0.38829502463340765,
+              0.7713653445243835
+            ],
+            "closest_ee_minus_button": [
+              -0.0009669444734242416,
+              -0.0011262547791733857,
+              0.03508644853245024
+            ],
+            "button_min_z_position": [
+              0.17570923268795008,
+              -0.3882952332496643,
+              0.7689523696899414
+            ],
+            "min_active_finger_to_button": 0.1468807119910771,
+            "closest_active_finger": [
+              0.03358481824398041,
+              -0.374705046415329,
+              0.8102222084999084
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+            "closest_active_finger_button": [
+              0.17573012411594388,
+              -0.38829872012138367,
+              0.7758148312568665
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14214530587196347,
+              0.013593673706054688,
+              0.03440737724304199
+            ],
+            "min_contact_pad_to_button": 0.02119301505814964,
+            "closest_contact_pad": [
+              0.17570923268795008,
+              -0.3905249618745312,
+              0.7900277628657378
+            ],
+            "closest_contact_pad_button": [
+              0.17570923268795008,
+              -0.3882952332496643,
+              0.7689523696899414
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002229728624866867,
+              0.02107539317579643
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "24afd1f8cfcd6b62f0c8eed9a1db61cc463aff100a5165b85e7d07fd91862f8a",
+    "visual_seed": 5649698658785956368,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da31f859c970d5b564509447d80bc6a1b7d07345
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_61_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23238618923908771,
+              0.19466954870383618,
+              1.0472257538492906
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+            "current_z": 1.0472257538492906,
+            "required_z": 0.8565865951021169,
+            "initial_z": 0.7565865951021169,
+            "lift_margin": 0.19063915874717374,
+            "gripper_z": 1.051380271220857,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.22723371497634615,
+              0.18972142508705236,
+              1.051380271220857
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+              0.005152474262741569,
+              0.004948123616783817,
+              -0.0041545173715664685
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+            "object_to_gripper_xy": 0.007143662810854669,
+            "object_to_gripper_z": -0.0041545173715664685,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23238618923908771,
+              0.1702410977718816,
+              1.0472257538492906
+            ],
+            "finger_b": [
+              0.22032602069233093,
+              0.19466954870383618,
+              1.0472257538492906
+            ],
+            "finger_midpoint": [
+              0.22635610496570932,
+              0.1824553232378589,
+              1.0472257538492906
+            ],
+            "object_minus_finger_midpoint": [
+              0.006030084273378394,
+              0.01221422546597728,
+              0.0
+            ],
+            "finger_gap": 0.027243290555861544,
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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": 1.0472257538492906,
+            "object_top_z": 1.093335269400489,
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+              0.1694168895483017,
+              -0.3901900351047516,
+              0.7691765427589417
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008984368366392603,
+              0.02114951400199938
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96794acc0db12e070a265d4e2b0dbb2f6bf17e9b0218f3e7a5844b1eb0bacf00",
+    "visual_seed": 8233222266379706753,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..41b8ee706848fe616c19e22563b3d84e7d196f4d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_62_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.18625146978616666,
+              1.0471016314548816
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+            "gripper_z": 1.051268427389109,
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+              0.22928419202388667,
+              0.1814720394424223,
+              1.051268427389109
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+              0.0047794303437443675,
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+              0.16168773635002692,
+              1.0471016314548816
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+              1.0471016314548816
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+              0.17396960306809678,
+              1.0471016314548816
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486149109808567,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.1906322604819197,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.004325069510758173,
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+            "held_object_xy_range": 0.0862408824591237,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.17802622864433637,
+              1.235794342502394
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+              0.1906322604819197,
+              1.235794342502394
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.004218964811521124,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18769052090878544,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196169423626,
+            "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": 0.07587391929210169,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564951678170372,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15520208808624694,
+            "release_required_pad_clearance": 0.052824758390851864,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.694358395720735,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007974743843078613,
+            "max_z_decrease": 0.007974743843078613,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510670355185597,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007974743843078613,
+            "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": 0.021177740736118555,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007974743843078613,
+            "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": 0.007974766676312825,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1759251058101654,
+              -0.39266130328178406,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1759251058101654,
+              -0.39266130328178406,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1763074156034489,
+              -0.3906081062981879,
+              0.8073980475567063
+            ],
+            "closest_button": [
+              0.17591455578804016,
+              -0.3926645517349243,
+              0.7723538279533386
+            ],
+            "closest_ee_minus_button": [
+              0.00039285981540873594,
+              0.0020564454367364426,
+              0.03504421960336768
+            ],
+            "button_min_z_position": [
+              0.17590641975402832,
+              -0.39266517758369446,
+              0.768834114074707
+            ],
+            "min_active_finger_to_button": 0.14504295474892606,
+            "closest_active_finger": [
+              0.048509299755096436,
+              -0.45267242193222046,
+              0.8097554445266724
+            ],
+            "closest_active_finger_button": [
+              0.1759319007396698,
+              -0.3926644623279571,
+              0.7751146554946899
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12742260098457336,
+              -0.06000795960426336,
+              0.03464078903198242
+            ],
+            "min_contact_pad_to_button": 0.021177740736118555,
+            "closest_contact_pad": [
+              0.17590641975402832,
+              -0.39266517758369446,
+              0.7900118548108256
+            ],
+            "closest_contact_pad_button": [
+              0.17590641975402832,
+              -0.39266517758369446,
+              0.768834114074707
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021177740736118555
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "21ef365f53151de2b2c35956216706784710f37d48ec7e437c5ce914937ded7d",
+    "visual_seed": 6590316379079411595,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..12fc7eeaa2f7330dd0af54632dfb95daed9ac935
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_63_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23796794211949024,
+              0.18989125620776773,
+              1.0447096360107926
+            ],
+            "current_z": 1.0447096360107926,
+            "required_z": 0.8565865553211415,
+            "initial_z": 0.7565865553211415,
+            "lift_margin": 0.1881230806896511,
+            "gripper_z": 1.0488262567670836,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23295090868747664,
+              0.18504592533691794,
+              1.0488262567670836
+            ],
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+              0.005017033432013596,
+              0.00484533087084979,
+              -0.004116620756291045
+            ],
+            "object_to_gripper_xy": 0.00697480148147258,
+            "object_to_gripper_z": -0.004116620756291045,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23796794211949024,
+              0.16551178136421402,
+              1.0447096360107926
+            ],
+            "finger_b": [
+              0.22611335906154528,
+              0.18989125620776773,
+              1.0447096360107926
+            ],
+            "finger_midpoint": [
+              0.23204065059051776,
+              0.1777015187859909,
+              1.0447096360107926
+            ],
+            "object_minus_finger_midpoint": [
+              0.005927291528972478,
+              0.012189737421776842,
+              0.0
+            ],
+            "finger_gap": 0.02710885340853028,
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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": 1.0447096360107926,
+            "object_top_z": 1.091049210754135,
+            "finger_top_clearance": 0.04633957474334238,
+            "fingertip_min_top_clearance": 0.013901872423002698,
+            "object_projection_between_fingers": 0.8087725343030696,
+            "object_to_finger_line_xy": 0.010661037746105688,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048575874274239136,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7594176465626661,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "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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+    "task_island_state_digest": "c6ed133534fc29ebd80d67998b57cae78a10df639ad600f3f8d7ca839f44dd4d",
+    "visual_seed": 1914216996797913448,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..225234e6394cb5101e667de37aca83354ebf400f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_64_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "reason": "executed",
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+        "checker": {
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+              0.1934486073230981,
+              1.0450328053441582
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+            "lift_margin": 0.1884461787263031,
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+              0.18867097537440655,
+              1.049071312546856
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+              0.004961373954302378,
+              0.004777631948691546,
+              -0.0040385072026978275
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+            "object_to_gripper_z": -0.0040385072026978275,
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+              0.16906034119385543,
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+              1.0450328053441582
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+              0.18125447425847677,
+              1.0450328053441582
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+              0.012194133064621332,
+              0.0
+            ],
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.19334180344876034,
+              1.2382999576788507
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+              0.1977277458339026,
+              1.2341314076566803
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
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+            "held_gripper_dist": 0.007992641521869907,
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+            "held_gripper_z_dist": 0.004168550022170425,
+            "max_held_gripper_z_dist": 0.004192489617421691,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08618402917276954,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.17254438882587214,
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+              0.18513606732988735,
+              1.2341314076566803
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+              1.2341314076566803
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9973699220152925,
+              0.02742298696963419
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+            "held_grasp_object_to_finger_line_xy": 0.004111727974617799,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15517269969573505,
+            "release_required_pad_clearance": 0.05260180356730344,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2654064908444898,
+            "object_max_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",
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+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007807493209838867,
+            "max_z_decrease": 0.007807493209838867,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518124277470361,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007807493209838867,
+            "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": 0.0211152527471149,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007807493209838867,
+            "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": 0.007807515659893679,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1770589500665664,
+              -0.3879647254943847,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1770589500665664,
+              -0.3879647254943847,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17752195853009733,
+              -0.3857488521764363,
+              0.8079136994407099
+            ],
+            "closest_button": [
+              0.17704942822456352,
+              -0.38796886801719666,
+              0.7728057503700256
+            ],
+            "closest_ee_minus_button": [
+              0.00047253030553381925,
+              0.00222001584076037,
+              0.03510794907068426
+            ],
+            "button_min_z_position": [
+              0.1770405322313308,
+              -0.3879680931568145,
+              0.7690013647079468
+            ],
+            "min_active_finger_to_button": 0.14479608534617366,
+            "closest_active_finger": [
+              0.05116135627031326,
+              -0.4506959617137909,
+              0.8108421564102173
+            ],
+            "closest_active_finger_button": [
+              0.17706169188022608,
+              -0.38796725869178766,
+              0.7764892578125
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12590033560991282,
+              -0.06272870302200323,
+              0.034352898597717285
+            ],
+            "min_contact_pad_to_button": 0.0211152527471149,
+            "closest_contact_pad": [
+              0.1770405322313308,
+              -0.3879680931568145,
+              0.7901166174550617
+            ],
+            "closest_contact_pad_button": [
+              0.1770405322313308,
+              -0.3879680931568145,
+              0.7690013647079468
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.0211152527471149
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "584414c728de6ba1d4151b62a975a4e59055d7b60083c089e2dd67ba3c46cda8",
+    "visual_seed": 9170086123543961572,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b155dfb7bd56f308dfa405b905063c66bddcbd1a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_65_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2311849794348799,
+              0.18731288245071107,
+              1.0433524032911914
+            ],
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+            "lift_margin": 0.18676583627798127,
+            "gripper_z": 1.0477946824323736,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2260144163978987,
+              0.1824522597567267,
+              1.0477946824323736
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+              0.005170563036981185,
+              0.004860622693984379,
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+            "object_to_gripper_xy": 0.007096504427721585,
+            "object_to_gripper_z": -0.004442279141182226,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2311849794348799,
+              0.1627381242200997,
+              1.0433524032911914
+            ],
+            "finger_b": [
+              0.21942131855392535,
+              0.18731288245071107,
+              1.0433524032911914
+            ],
+            "finger_midpoint": [
+              0.22530314899440262,
+              0.1750255033354054,
+              1.0433524032911914
+            ],
+            "object_minus_finger_midpoint": [
+              0.00588183044047727,
+              0.012287379115305669,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04873971999196998,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8302224277161258,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.18713851475607157,
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+              0.19161821351625985,
+              1.2317382779674337
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008381271487750171,
+            "max_held_gripper_dist": 0.008384470233723091,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0045794533632610435,
+            "max_held_gripper_z_dist": 0.004600718486500677,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08619349708003388,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.16634061583465243,
+              1.2317382779674337
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+              0.17897941467545614,
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+            "held_grasp_object_position": [
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+              0.19161821351625985,
+              1.2317382779674337
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+            "held_grasp_finger_gap": 0.02721441998256243,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024525875078177432,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06792876312026999,
+              -0.9973575765090057,
+              0.02575942004458487
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004184367234792058,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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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"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32954189133996337,
+              -0.3345356105806295,
+              0.8470192775797483
+            ],
+            "target_position": [
+              0.3217886944203482,
+              -0.33711233589816864,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008170163758235042,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1863039585917771,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192775797483,
+            "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": 0.07570561746132248,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496807575905811,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15435946135144624,
+            "release_required_pad_clearance": 0.05248403787952906,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.039524829175290134,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008041977882385254,
+            "max_z_decrease": 0.008041977882385254,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503570820824609,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008041977882385254,
+            "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": 0.021181028962375514,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008041977882385254,
+            "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": 0.00804198667838883,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.177488625049591,
+              -0.39337378740310663,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.177488625049591,
+              -0.39337378740310663,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17707770859905522,
+              -0.39234442224408145,
+              0.8072492078017788
+            ],
+            "closest_button": [
+              0.17747572064399714,
+              -0.39337706565856934,
+              0.7722309827804565
+            ],
+            "closest_ee_minus_button": [
+              -0.00039801204494191444,
+              0.0010326434144878882,
+              0.035018225021322236
+            ],
+            "button_min_z_position": [
+              0.1774767488241195,
+              -0.39337444305419916,
+              0.7687668800354004
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+            "min_active_finger_to_button": 0.14618130706381927,
+            "closest_active_finger": [
+              0.049075767397880554,
+              -0.453969269990921,
+              0.8076123595237732
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+            "closest_active_finger_button": [
+              0.17749798297882075,
+              -0.39337831735610956,
+              0.7728928327560425
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1284222155809402,
+              -0.06059095263481146,
+              0.03471952676773071
+            ],
+            "min_contact_pad_to_button": 0.021181028962375514,
+            "closest_contact_pad": [
+              0.1774767488241195,
+              -0.39374847091655824,
+              0.7899446063312795
+            ],
+            "closest_contact_pad_button": [
+              0.1774767488241195,
+              -0.39337444305419916,
+              0.7687668800354004
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00037402786235907204,
+              0.021177726295879107
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "beb108ee19769b7fc2fe20ae55e8c71a718cc6529e9f69206017a818754892d3",
+    "visual_seed": 1465720521683518886,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad89c610b8fad5444a44f0a1e7dca1e5edff3947
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_66_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.2371418471372962,
+              0.19040330055124566,
+              1.045866844607703
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+            "lift_margin": 0.18928015134611642,
+            "gripper_z": 1.0500060407105036,
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+            "gripper_position": [
+              0.23198281510085103,
+              0.18543019329780658,
+              1.0500060407105036
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+              0.00515903203644516,
+              0.00497310725343908,
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+            "object_to_gripper_z": -0.0041391961028005575,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2371418471372962,
+              0.16600723890756533,
+              1.045866844607703
+            ],
+            "finger_b": [
+              0.22499658059183547,
+              0.19040330055124566,
+              1.045866844607703
+            ],
+            "finger_midpoint": [
+              0.23106921386456583,
+              0.17820526972940548,
+              1.045866844607703
+            ],
+            "object_minus_finger_midpoint": [
+              0.00607263327273036,
+              0.012198030821840178,
+              0.0
+            ],
+            "finger_gap": 0.02725207007151086,
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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": 1.045866844607703,
+            "object_top_z": 1.0918193003507968,
+            "finger_top_clearance": 0.0459524557430937,
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+            "object_projection_between_fingers": 0.8013835994601475,
+            "object_to_finger_line_xy": 0.010872446406621236,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04816967633603658,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5008204908186634,
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+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eaf66ef1508235c12cb1d388abab49271d37f96fc52c97b3f576fc305baadc1f",
+    "visual_seed": 6949474787492993710,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fc389db69a60c54d51e06bd8169f1ab9c700ea5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_67_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.19319490069291229,
+              1.045699732827403
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+            "gripper_z": 1.0499932371562786,
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+              0.2278218758617791,
+              0.18830067565650366,
+              1.0499932371562786
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+              0.005273156865034739,
+              0.004894225036408628,
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+              0.16852874994150724,
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+              0.18086182531720976,
+              1.045699732827403
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+              0.012333075375702524,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.008383335336854952,
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+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08636946590182998,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.18526803195269698,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
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+          "metrics": {
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+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506216586436609,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15475452720737456,
+            "release_required_pad_clearance": 0.052531082932183046,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1312206730374393,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007906973361968994,
+            "max_z_decrease": 0.007906973361968994,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514412265141577,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007906973361968994,
+            "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": 0.02123795289017474,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007906973361968994,
+            "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": 0.00790699348053854,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16756881773471835,
+              -0.3886975944042206,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16756881773471835,
+              -0.3886975944042206,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1672571341949918,
+              -0.3901306033433923,
+              0.8079815840752241
+            ],
+            "closest_button": [
+              0.16756422817707065,
+              -0.38870772719383234,
+              0.7728676199913025
+            ],
+            "closest_ee_minus_button": [
+              -0.0003070939820788432,
+              -0.0014228761495599374,
+              0.035113964083921645
+            ],
+            "button_min_z_position": [
+              0.16755114495754245,
+              -0.38870000839233393,
+              0.7689018845558167
+            ],
+            "min_active_finger_to_button": 0.14634294611594842,
+            "closest_active_finger": [
+              0.026087775826454163,
+              -0.37387874722480774,
+              0.8111135959625244
+            ],
+            "closest_active_finger_button": [
+              0.1675738841295243,
+              -0.38869979977607727,
+              0.7767875790596008
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14148610830307012,
+              0.014821052551269531,
+              0.034326016902923584
+            ],
+            "min_contact_pad_to_button": 0.02123795289017474,
+            "closest_contact_pad": [
+              0.16755114495754245,
+              -0.39134821359506083,
+              0.7899740854890256
+            ],
+            "closest_contact_pad_button": [
+              0.16755114495754245,
+              -0.38870000839233393,
+              0.7689018845558167
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026482052027269054,
+              0.02107220093320894
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "37f538c134c3c10644244ac8c2a64a564a97797a021ffb8c2cb3add9d19bc7c5",
+    "visual_seed": 5039536598928236847,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e7904f5c5521fee0393fe0c04bce7f54b80d35c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_68_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23795694852688007,
+              0.19079455770228307,
+              1.044860557145031
+            ],
+            "current_z": 1.044860557145031,
+            "required_z": 0.8565865931335285,
+            "initial_z": 0.7565865931335285,
+            "lift_margin": 0.18827396401150243,
+            "gripper_z": 1.0489719372704396,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23289206071006993,
+              0.1859517114717204,
+              1.0489719372704396
+            ],
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+              0.0050648878168101374,
+              0.004842846230562664,
+              -0.004111380125408681
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+            "object_to_gripper_xy": 0.007007585048342029,
+            "object_to_gripper_z": -0.004111380125408681,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23795694852688007,
+              0.16634568357279378,
+              1.044860557145031
+            ],
+            "finger_b": [
+              0.2261524908809922,
+              0.19079455770228307,
+              1.044860557145031
+            ],
+            "finger_midpoint": [
+              0.23205471970393615,
+              0.1785701206375384,
+              1.044860557145031
+            ],
+            "object_minus_finger_midpoint": [
+              0.005902228822943917,
+              0.012224437064744659,
+              0.0
+            ],
+            "finger_gap": 0.027149450574793794,
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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": 1.044860557145031,
+            "object_top_z": 1.0912998867329315,
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+            "object_projection_between_fingers": 0.8109529145463688,
+            "object_to_finger_line_xy": 0.010630259288530444,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866798008968738,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8187794841021387,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..19de71726d44388c751bdcad9a5f79c90ded2db7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_69_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              1.0455580215243125
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+              0.18507224565974745,
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+              0.0047930682408308944,
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+              0.16537774523610563,
+              1.0455580215243125
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+              1.0455580215243125
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+              0.17762152956834198,
+              1.0455580215243125
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              1.2378199953718636
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+              1.233629154653886
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+            "held_shake_count": 5,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+          }
+        },
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+      "physical_semantics": {
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 0.39366169332491263,
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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
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
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+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008090376853942871,
+            "max_z_decrease": 0.008090376853942871,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501811425146945,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008090376853942871,
+            "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": 0.021100488850137728,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008090376853942871,
+            "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": 0.008090388129213585,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17734758555889124,
+              -0.3943260610103607,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17734758555889124,
+              -0.3943260610103607,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17632096066466563,
+              -0.39368161273742236,
+              0.8037154211997153
+            ],
+            "closest_button": [
+              0.17735873162746424,
+              -0.39431843161582947,
+              0.7687184810638428
+            ],
+            "closest_ee_minus_button": [
+              -0.001037770962798612,
+              0.0006368188784071083,
+              0.03499694013587251
+            ],
+            "button_min_z_position": [
+              0.17735873162746424,
+              -0.39431843161582947,
+              0.7687184810638428
+            ],
+            "min_active_finger_to_button": 0.1464697844637393,
+            "closest_active_finger": [
+              0.0491027906537056,
+              -0.4560422897338867,
+              0.811397910118103
+            ],
+            "closest_active_finger_button": [
+              0.1773515790700912,
+              -0.3943268954753876,
+              0.7768023014068604
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1282487884163856,
+              -0.061715394258499146,
+              0.034595608711242676
+            ],
+            "min_contact_pad_to_button": 0.021100488850137728,
+            "closest_contact_pad": [
+              0.17735873162746424,
+              -0.3949214203714352,
+              0.7898103523481883
+            ],
+            "closest_contact_pad_button": [
+              0.17735873162746424,
+              -0.39431843161582947,
+              0.7687184810638428
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006029887556057156,
+              0.02109187128434553
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "14e1d20a1a52bde741776efe7c91f62b5b5d372c572a5d9c88b751e678234e93",
+    "visual_seed": 5698962186801922113,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9e9d6f2c2f3f71bf7ae6b341316ec804ea56b06
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2309369725194811,
+              0.18780113605439686,
+              1.0445238170003124
+            ],
+            "current_z": 1.0445238170003124,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18793730959174682,
+            "gripper_z": 1.0486400073810165,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22589587140650033,
+              0.18290779547924435,
+              1.0486400073810165
+            ],
+            "object_minus_gripper": [
+              0.005041101112980756,
+              0.004893340575152505,
+              -0.004116190380704099
+            ],
+            "object_to_gripper_xy": 0.007025488055340331,
+            "object_to_gripper_z": -0.004116190380704099,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2309369725194811,
+              0.16346435877051776,
+              1.0445238170003124
+            ],
+            "finger_b": [
+              0.21893128111752275,
+              0.18780113605439686,
+              1.0445238170003124
+            ],
+            "finger_midpoint": [
+              0.22493412681850192,
+              0.17563274741245732,
+              1.0445238170003124
+            ],
+            "object_minus_finger_midpoint": [
+              0.00600284570097917,
+              0.012168388641939532,
+              0.0
+            ],
+            "finger_gap": 0.027136973939704292,
+            "fingertip_max_gap": 0.09137713489926902,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013568486969852132,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0445238170003124,
+            "object_top_z": 1.0904070871654348,
+            "finger_top_clearance": 0.04588327016512239,
+            "fingertip_min_top_clearance": 0.013764981049536718,
+            "object_projection_between_fingers": 0.8042726497514066,
+            "object_to_finger_line_xy": 0.010766854050773588,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818856744963451,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.48294566781118375,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "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,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23042691811944102,
+              0.18729436573171943,
+              1.2387415111930087
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+            "held_position": [
+              0.23577493482253356,
+              0.19172720908782195,
+              1.2344928786456097
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008142620057396554,
+            "max_held_gripper_dist": 0.008146540068806366,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004248632547398934,
+            "max_held_gripper_z_dist": 0.004268822036298525,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08634334508164582,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23577493482253356,
+              0.16644762590302767,
+              1.2344928786456097
+            ],
+            "held_grasp_finger_b": [
+              0.22581514597667476,
+              0.19172720908782195,
+              1.2344928786456097
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+            "held_grasp_midpoint": [
+              0.23079504039960416,
+              0.1790874174954248,
+              1.2344928786456097
+            ],
+            "held_grasp_object_position": [
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+              0.19172720908782195,
+              1.2344928786456097
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+            "held_grasp_finger_gap": 0.02717084319359683,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024393114562366876,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08020711058384251,
+              -0.996533853567309,
+              0.022070299184211883
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039601990482764984,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03220482179927582,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3202364799273479,
+              -0.3306390331981742,
+              0.8470196194172805
+            ],
+            "target_position": [
+              0.31282627282822356,
+              -0.33279070486394485,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007716272429689911,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18552034354743052,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196194172805,
+            "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": 0.07553771499507578,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08571470937374563,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1539237757342064,
+            "release_required_pad_clearance": 0.05285735468687282,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7569182356887366,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008024930953979492,
+            "max_z_decrease": 0.008024930953979492,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513985065473572,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008024930953979492,
+            "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": 0.02107786159286088,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008024930953979492,
+            "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": 0.008024957868088729,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1685262024402619,
+              -0.389052152633667,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1685262024402619,
+              -0.389052152633667,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1691402618957422,
+              -0.38870125005499867,
+              0.8079469925171812
+            ],
+            "closest_button": [
+              0.16851767897605902,
+              -0.3890622556209564,
+              0.7728145122528076
+            ],
+            "closest_ee_minus_button": [
+              0.0006225829196831734,
+              0.00036100556595775046,
+              0.035132480264373545
+            ],
+            "button_min_z_position": [
+              0.16850568354129797,
+              -0.389055460691452,
+              0.7687839269638062
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+            "min_active_finger_to_button": 0.14544541115159582,
+            "closest_active_finger": [
+              0.042826637625694275,
+              -0.4537488520145416,
+              0.8108785152435303
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+            "closest_active_finger_button": [
+              0.1685303002595902,
+              -0.38905441761016846,
+              0.7767085433006287
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12570366263389593,
+              -0.06469443440437317,
+              0.03416997194290161
+            ],
+            "min_contact_pad_to_button": 0.02107786159286088,
+            "closest_contact_pad": [
+              0.16850568354129797,
+              -0.389654904648578,
+              0.7898532628876094
+            ],
+            "closest_contact_pad_button": [
+              0.16850568354129797,
+              -0.389055460691452,
+              0.7687839269638062
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005994439571259669,
+              0.021069335923803223
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c281c45c99224090cc16746526c3b1648f3a3b1f4d5650f5f0ed48c94ec9cbe",
+    "visual_seed": 9133904602428544471,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c46c6b30dfc242e094f4c42cf1a4d228c14c5dd0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_70_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.1860400948727483,
+              1.0467706521890299
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+            "lift_margin": 0.19018402215355623,
+            "gripper_z": 1.050783227001504,
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+            "gripper_position": [
+              0.23006942149357823,
+              0.181224393972101,
+              1.050783227001504
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+            "object_minus_gripper": [
+              0.005247885318885592,
+              0.004815700900647313,
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+            "object_to_gripper_xy": 0.007122589099805651,
+            "object_to_gripper_z": -0.00401257481247419,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23531730681246382,
+              0.16130347334467185,
+              1.0467706521890299
+            ],
+            "finger_b": [
+              0.22375379826442826,
+              0.1860400948727483,
+              1.0467706521890299
+            ],
+            "finger_midpoint": [
+              0.22953555253844604,
+              0.1736717841087101,
+              1.0467706521890299
+            ],
+            "object_minus_finger_midpoint": [
+              0.005781754274017781,
+              0.012368310764038215,
+              0.0
+            ],
+            "finger_gap": 0.027305954928619272,
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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": 0.010475448862241882,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04860467036196628,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6549460742855876,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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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": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "67780da4e69643981b8308f2a7663f5a43ac85f2301253be08993697f0771d79",
+    "visual_seed": 6513064682528503222,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cce4eda9bed0af3030b82f8caf1216ebbe930443
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_71_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.19377081140134308,
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+              0.188890832307387,
+              1.0509503234734523
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+              0.18162530436658014,
+              1.0469815949660168
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+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
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+                "beaker_b"
+              ],
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
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+            "release_gap_margin": 0.02,
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+            "release_min_pad_clearance": 0.1547918224713888,
+            "release_required_pad_clearance": 0.0525763469937368,
+            "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": 0.21670262415150582,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008043467998504639,
+            "max_z_decrease": 0.008043467998504639,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035184308268116166,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008043467998504639,
+            "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": 0.021106378483095045,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008043467998504639,
+            "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": 0.008043477500298494,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17285725474357605,
+              -0.38802659511566157,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17285725474357605,
+              -0.38802659511566157,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17385963994147707,
+              -0.38606313183296376,
+              0.8038801827666441
+            ],
+            "closest_button": [
+              0.17284490168094635,
+              -0.3880271017551422,
+              0.768765389919281
+            ],
+            "closest_ee_minus_button": [
+              0.0010147382605307231,
+              0.0019639699221784546,
+              0.035114792847363074
+            ],
+            "button_min_z_position": [
+              0.17284490168094635,
+              -0.3880271017551422,
+              0.768765389919281
+            ],
+            "min_active_finger_to_button": 0.144044183105408,
+            "closest_active_finger": [
+              0.047531917691230774,
+              -0.4501684904098511,
+              0.8109651207923889
+            ],
+            "closest_active_finger_button": [
+              0.17286112904548648,
+              -0.3880285024642944,
+              0.7766149044036865
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1253292113542557,
+              -0.062139987945556696,
+              0.03435021638870239
+            ],
+            "min_contact_pad_to_button": 0.021106378483095045,
+            "closest_contact_pad": [
+              0.17284490168094635,
+              -0.3880271017551422,
+              0.789871768402376
+            ],
+            "closest_contact_pad_button": [
+              0.17284490168094635,
+              -0.3880271017551422,
+              0.768765389919281
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021106378483095045
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8b639679f8c5e95d112be3fb4cbb572b532bb5f1ef93720668f92a065a82d53e",
+    "visual_seed": 9201323341530865170,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e5db3c624a4ebc0127568de29df67979e5aada1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_72_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23618777283400494,
+              0.1901780573816636,
+              1.0440729353466236
+            ],
+            "current_z": 1.0440729353466236,
+            "required_z": 0.8565866724143848,
+            "initial_z": 0.7565866724143848,
+            "lift_margin": 0.1874862629322388,
+            "gripper_z": 1.04809111823158,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23114720250374426,
+              0.185446286444992,
+              1.04809111823158
+            ],
+            "object_minus_gripper": [
+              0.005040570330260674,
+              0.004731770936671598,
+              -0.004018182884956367
+            ],
+            "object_to_gripper_xy": 0.006913537839010806,
+            "object_to_gripper_z": -0.004018182884956367,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23618777283400494,
+              0.16560760785247652,
+              1.0440729353466236
+            ],
+            "finger_b": [
+              0.22471876935470392,
+              0.1901780573816636,
+              1.0440729353466236
+            ],
+            "finger_midpoint": [
+              0.23045327109435443,
+              0.17789283261707006,
+              1.0440729353466236
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057345017396505105,
+              0.012285224764593539,
+              0.0
+            ],
+            "finger_gap": 0.027115402096862744,
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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": 1.0440729353466236,
+            "object_top_z": 1.0902611814653183,
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+            "object_projection_between_fingers": 0.8210963212471372,
+            "object_to_finger_line_xy": 0.010392564717704883,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04859923557534532,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7000011236760189,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23561431288690587,
+              0.1899958158047103,
+              1.2403773283889734
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+            "held_position": [
+              0.24088502045024573,
+              0.19437552573044378,
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+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+                "wrist_2_joint",
+                "wrist_3_joint"
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "heater_platform",
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+              0.3227127553905924,
+              -0.3365783039267763,
+              0.8470199261593285
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+              0.3146199028881255,
+              -0.33914768324420097,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008490934677848738,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.186803445320673,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199261593285,
+            "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": 0.07574584204356641,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.154852790193968,
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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_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007948637008666992,
+            "max_z_decrease": 0.007948637008666992,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035178836475940035,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007948637008666992,
+            "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": 0.02108219975112772,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007948637008666992,
+            "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": 0.007948658132026049,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17031982541084295,
+              -0.39540913701057434,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17031982541084295,
+              -0.39540913701057434,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17201353567955727,
+              -0.39499309576745967,
+              0.8082070482960598
+            ],
+            "closest_button": [
+              0.1703144013881684,
+              -0.39541688561439514,
+              0.773071825504303
+            ],
+            "closest_ee_minus_button": [
+              0.0016991342913888763,
+              0.00042378984693547395,
+              0.03513522279175685
+            ],
+            "button_min_z_position": [
+              0.17030161619186404,
+              -0.3954111933708191,
+              0.7688602209091187
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+            "min_active_finger_to_button": 0.144499345484149,
+            "closest_active_finger": [
+              0.04570251703262329,
+              -0.4600701332092285,
+              0.8106411695480347
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+            "closest_active_finger_button": [
+              0.17032131552696234,
+              -0.39541178941726685,
+              0.7764430046081543
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12461879849433904,
+              -0.06465834379196167,
+              0.03419816493988037
+            ],
+            "min_contact_pad_to_button": 0.02108219975112772,
+            "closest_contact_pad": [
+              0.17030161619186404,
+              -0.39594402315651905,
+              0.7899356862365063
+            ],
+            "closest_contact_pad_button": [
+              0.17030161619186404,
+              -0.3954111933708191,
+              0.7688602209091187
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000532829785699962,
+              0.021075465327387688
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "adf0d02d2208ca961dae525e32c227a0dacd720060a663f054146276182b4bb6",
+    "visual_seed": 5320643344369260086,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..11b748aaa6b7c0c84d357d209b303d5b8f857f62
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_73_success.json
@@ -0,0 +1,926 @@
+{
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+  "success": true,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035120233205672806,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007717490196228027,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021149962497449902,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007717490196228027,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007717511944368376,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16761741042137146,
+              -0.38647824525833124,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16761741042137146,
+              -0.38647824525833124,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16685274364365832,
+              -0.3868282745241817,
+              0.8075317515387023
+            ],
+            "closest_button": [
+              0.16760544478893277,
+              -0.38648122549057,
+              0.7724213004112244
+            ],
+            "closest_ee_minus_button": [
+              -0.0007527011452744536,
+              -0.0003470490336117127,
+              0.035110451127477904
+            ],
+            "button_min_z_position": [
+              0.1675992906093597,
+              -0.3864809572696685,
+              0.7690913677215576
+            ],
+            "min_active_finger_to_button": 0.14683371409710452,
+            "closest_active_finger": [
+              0.025779932737350464,
+              -0.3703046441078186,
+              0.8106513619422913
+            ],
+            "closest_active_finger_button": [
+              0.16761955618858332,
+              -0.38648086786270136,
+              0.7763003706932068
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14183962345123285,
+              0.016176223754882757,
+              0.03435099124908447
+            ],
+            "min_contact_pad_to_button": 0.021149962497449902,
+            "closest_contact_pad": [
+              0.1675992906093597,
+              -0.3881202009996796,
+              0.7901777091215529
+            ],
+            "closest_contact_pad_button": [
+              0.1675992906093597,
+              -0.3864809572696685,
+              0.7690913677215576
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001639243730011064,
+              0.021086341399995323
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7498cafa8c313d271b14def77cb75c05e6ec46044c577a6884ef4e899e4cf480",
+    "visual_seed": 51485154277820865,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..04cb2415bba978a97a937ddb9ae5cff5317c4794
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_74_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23284776107009666,
+              0.1891880282618232,
+              1.0438556827809502
+            ],
+            "current_z": 1.0438556827809502,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.18726917537238452,
+            "gripper_z": 1.0480531898367618,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2278177942548169,
+              0.18438163522037,
+              1.0480531898367618
+            ],
+            "object_minus_gripper": [
+              0.005029966815279757,
+              0.004806393041453222,
+              -0.004197507055811567
+            ],
+            "object_to_gripper_xy": 0.006957153170065004,
+            "object_to_gripper_z": -0.004197507055811567,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23284776107009666,
+              0.16474121682992923,
+              1.0438556827809502
+            ],
+            "finger_b": [
+              0.2211255038524004,
+              0.1891880282618232,
+              1.0438556827809502
+            ],
+            "finger_midpoint": [
+              0.22698663246124853,
+              0.17696462254587622,
+              1.0438556827809502
+            ],
+            "object_minus_finger_midpoint": [
+              0.005861128608848132,
+              0.012223405715946989,
+              0.0
+            ],
+            "finger_gap": 0.027111951303150687,
+            "fingertip_max_gap": 0.09232828587668479,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013555975651575344,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0438556827809502,
+            "object_top_z": 1.090298730350482,
+            "finger_top_clearance": 0.04644304756953188,
+            "fingertip_min_top_clearance": 0.01393291427085953,
+            "object_projection_between_fingers": 0.8130605580455683,
+            "object_to_finger_line_xy": 0.010569944175278734,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486641429383424,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8039186032532057,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2322232598933331,
+              0.18910292370596543,
+              1.2383880093262654
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+            "held_position": [
+              0.23749906855171105,
+              0.1935191350570655,
+              1.2340665141399287
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008124801557141657,
+            "max_held_gripper_dist": 0.008133015405593745,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004321495186336621,
+            "max_held_gripper_z_dist": 0.004344531906107729,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08616173001195734,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23749906855171105,
+              0.16831681778103588,
+              1.2340665141399287
+            ],
+            "held_grasp_finger_b": [
+              0.2275086072869355,
+              0.1935191350570655,
+              1.2340665141399287
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+            "held_grasp_midpoint": [
+              0.23250383791932328,
+              0.1809179764190507,
+              1.2340665141399287
+            ],
+            "held_grasp_object_position": [
+              0.23749906855171105,
+              0.1935191350570655,
+              1.2340665141399287
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+            "held_grasp_finger_gap": 0.027110258434117546,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02448409855907841,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0654949875449986,
+              -0.9974647735703768,
+              0.027828620028263695
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00417433288354811,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0323038505501663,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32845106125599177,
+              -0.3324558224201861,
+              0.8470194625106556
+            ],
+            "target_position": [
+              0.32065795016936877,
+              -0.33515665213098217,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008247851934604856,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.186570856782162,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194625106556,
+            "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": 0.07552332649518394,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530474884594429,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15508232974452532,
+            "release_required_pad_clearance": 0.052652374422972145,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3626159855990655,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007910370826721191,
+            "max_z_decrease": 0.007910370826721191,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515217671232159,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007910370826721191,
+            "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": 0.021131752204986864,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007910370826721191,
+            "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": 0.007910392170382096,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1763578802347183,
+              -0.3914180994033813,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1763578802347183,
+              -0.3914180994033813,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1762589370182125,
+              -0.3892825202420707,
+              0.8077318352264732
+            ],
+            "closest_button": [
+              0.1763482093811035,
+              -0.3914219439029693,
+              0.7726449370384216
+            ],
+            "closest_ee_minus_button": [
+              -8.927236289099638e-05,
+              0.0021394236608985873,
+              0.03508689818805155
+            ],
+            "button_min_z_position": [
+              0.17633984982967374,
+              -0.39142164587974543,
+              0.7688984870910645
+            ],
+            "min_active_finger_to_button": 0.1453646145963413,
+            "closest_active_finger": [
+              0.049233630299568176,
+              -0.45292505621910095,
+              0.8108371496200562
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+            "closest_active_finger_button": [
+              0.1763613522052765,
+              -0.3914202153682708,
+              0.776390552520752
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1271277219057083,
+              -0.061504840850830134,
+              0.0344465970993042
+            ],
+            "min_contact_pad_to_button": 0.021131752204986864,
+            "closest_contact_pad": [
+              0.17633984982967374,
+              -0.39142164587974543,
+              0.7900302392960513
+            ],
+            "closest_contact_pad_button": [
+              0.17633984982967374,
+              -0.39142164587974543,
+              0.7688984870910645
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021131752204986864
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6112a0f712aca9aa3d49678571d0ab397a115d13d590132af0f0b1d77501ef6f",
+    "visual_seed": 4409719514659711058,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..61070c894cda0897969f8c02f8d042b333920cb2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_75_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.18407397944986512,
+              1.0450678928048234
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+            "lift_margin": 0.18848144500090247,
+            "gripper_z": 1.0493608355207236,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.23350614965803212,
+              0.1791816267464844,
+              1.0493608355207236
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+              0.005183816850790224,
+              0.0048923527033807035,
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+            "object_to_gripper_z": -0.004292942715900194,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23868996650882235,
+              0.15953443082094118,
+              1.0450678928048234
+            ],
+            "finger_b": [
+              0.22682348627779683,
+              0.18407397944986512,
+              1.0450678928048234
+            ],
+            "finger_midpoint": [
+              0.23275672639330958,
+              0.17180420513540315,
+              1.0450678928048234
+            ],
+            "object_minus_finger_midpoint": [
+              0.005933240115512772,
+              0.012269774314461968,
+              0.0
+            ],
+            "finger_gap": 0.027258077701566595,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_top_z": 1.091513362829719,
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+            "object_projection_between_fingers": 0.8104807235232087,
+            "object_to_finger_line_xy": 0.010683000902395967,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048716992598369965,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8300437561454539,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
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+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "312a47ef06a424d83429e3873eebc8c5f3331667c58467a6c9bbdce944b13eb3",
+    "visual_seed": 2237658283770007819,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d52cd2917c93b18e24bb138a8b3dfd8836ea67a3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_76_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+          "skill": "pick",
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+          "metrics": {
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+              0.1940771817133867,
+              1.0463140673447946
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+            "gripper_z": 1.0504366925339736,
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+            "gripper_position": [
+              0.2299944194936914,
+              0.18930665528891882,
+              1.0504366925339736
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+              0.004770526424467875,
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+              0.16940939456474766,
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+              0.18174328813906718,
+              1.0463140673447946
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
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+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                },
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+      },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+      "physical_semantics": {
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "metrics": {
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+            "release_required_pad_clearance": 0.05290045342678705,
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+            "force_virtual_attach": false,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007581532001495361,
+            "max_z_decrease": 0.007581532001495361,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035066050676508885,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007581532001495361,
+            "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": 0.021254720045994494,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007581532001495361,
+            "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": 0.0075815546393575,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17260968685150144,
+              -0.3869636952877045,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17260968685150144,
+              -0.3869636952877045,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1717731338066948,
+              -0.3879343985457442,
+              0.8050422627923515
+            ],
+            "closest_button": [
+              0.1725929230451584,
+              -0.3869670033454895,
+              0.7699991464614868
+            ],
+            "closest_ee_minus_button": [
+              -0.0008197892384635974,
+              -0.0009673952002546837,
+              0.035043116330864654
+            ],
+            "button_min_z_position": [
+              0.17259146273136136,
+              -0.3869670331478119,
+              0.7692273259162903
+            ],
+            "min_active_finger_to_button": 0.14662025573059187,
+            "closest_active_finger": [
+              0.031132772564888,
+              -0.37021517753601074,
+              0.8083205819129944
+            ],
+            "closest_active_finger_button": [
+              0.17261748015880585,
+              -0.3869706094264984,
+              0.7736964225769043
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14148470759391785,
+              0.01675543189048767,
+              0.03462415933609009
+            ],
+            "min_contact_pad_to_button": 0.021254720045994494,
+            "closest_contact_pad": [
+              0.17259146273136136,
+              -0.38927475091973884,
+              0.7903563950609245
+            ],
+            "closest_contact_pad_button": [
+              0.17259146273136136,
+              -0.3869670331478119,
+              0.7692273259162903
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023077177719269537,
+              0.021129069144634194
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d5d5d723f02dbf29895d6f8436a910ea98b972634f2220dc85fcb406fcc1df06",
+    "visual_seed": 28054374588943840,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bff7f14150d8fe9b6e84b74d732ded6ffd36fe9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_77_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.23184314085706068,
+              0.1940113557823739,
+              1.0450604903876641
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+            "lift_margin": 0.1884738687744678,
+            "gripper_z": 1.049137544852514,
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+            "gripper_position": [
+              0.22680240481177635,
+              0.18919785432560127,
+              1.049137544852514
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+              0.005040736045284322,
+              0.004813501456772645,
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+            "object_to_gripper_z": -0.00407705446484985,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23184314085706068,
+              0.16955981168019396,
+              1.0450604903876641
+            ],
+            "finger_b": [
+              0.22010695515325246,
+              0.1940113557823739,
+              1.0450604903876641
+            ],
+            "finger_midpoint": [
+              0.22597504800515655,
+              0.18178558373128395,
+              1.0450604903876641
+            ],
+            "object_minus_finger_midpoint": [
+              0.005868092851904122,
+              0.012225772051089961,
+              0.0
+            ],
+            "finger_gap": 0.027122242972422533,
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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": 0.010580535784589213,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867629543979453,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7984204681031601,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23120620249387527,
+              0.19379266547762758,
+              1.2412755561789424
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+            "held_position": [
+              0.2365144752003363,
+              0.19821189123144856,
+              1.2370945274969336
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008073928178351205,
+            "max_held_gripper_dist": 0.008081513855719421,
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+                "beaker_b"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3204062057772566,
+              -0.33091386141193446,
+              0.847019832350432
+            ],
+            "target_position": [
+              0.3127923425203239,
+              -0.33332603229282287,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00798683179075882,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1882158633918594,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019832350432,
+            "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": 0.0755184586923594,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549746545202995,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1565993944455736,
+            "release_required_pad_clearance": 0.05274873272601498,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5467943889985848,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008066833019256592,
+            "max_z_decrease": 0.008066833019256592,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515885787234959,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008066833019256592,
+            "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": 0.021244974803671664,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008066833019256592,
+            "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": 0.008066837526644922,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1684922724962235,
+              -0.38958749175071716,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1684922724962235,
+              -0.38958749175071716,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16984876253934617,
+              -0.39125994928064783,
+              0.8038343518713589
+            ],
+            "closest_button": [
+              0.1684864163398743,
+              -0.3895812928676605,
+              0.768742024898529
+            ],
+            "closest_ee_minus_button": [
+              0.00136234619947187,
+              -0.0016786564129873116,
+              0.035092326972829824
+            ],
+            "button_min_z_position": [
+              0.1684864163398743,
+              -0.3895812928676605,
+              0.768742024898529
+            ],
+            "min_active_finger_to_button": 0.14426865703821304,
+            "closest_active_finger": [
+              0.029088109731674194,
+              -0.3755373954772949,
+              0.8104257583618164
+            ],
+            "closest_active_finger_button": [
+              0.16849559545516973,
+              -0.38959160447120667,
+              0.7760531306266785
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13940748572349554,
+              0.014054208993911743,
+              0.03437262773513794
+            ],
+            "min_contact_pad_to_button": 0.021244974803671664,
+            "closest_contact_pad": [
+              0.1684864163398743,
+              -0.3924015306368891,
+              0.789798976561428
+            ],
+            "closest_contact_pad_button": [
+              0.1684864163398743,
+              -0.3895812928676605,
+              0.768742024898529
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002820237769228573,
+              0.021056951662898893
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5acc2ee563a5c37fafdd3140834ac9507a2f2ed75b8b7f84f3359d0623938cf",
+    "visual_seed": 7102270927964411427,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f45859c429384526d09abe88c72667647dd2d7d9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_78_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
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+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00808638334274292,
+            "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": 0.008086390479682815,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16976389288902283,
+              -0.3953619003295898,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16976389288902283,
+              -0.3953619003295898,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16792572905857553,
+              -0.39358168923436027,
+              0.8038156939648817
+            ],
+            "closest_button": [
+              0.16976937651634216,
+              -0.3953526616096496,
+              0.7687224745750427
+            ],
+            "closest_ee_minus_button": [
+              -0.001843647457766634,
+              0.001770972375289337,
+              0.035093219389839
+            ],
+            "button_min_z_position": [
+              0.16976937651634216,
+              -0.3953526616096496,
+              0.7687224745750427
+            ],
+            "min_active_finger_to_button": 0.1465146303087799,
+            "closest_active_finger": [
+              0.04210049659013748,
+              -0.458619624376297,
+              0.8107172250747681
+            ],
+            "closest_active_finger_button": [
+              0.16976553201675415,
+              -0.39536491036415095,
+              0.776555597782135
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12766503542661667,
+              -0.06325471401214605,
+              0.03416162729263306
+            ],
+            "min_contact_pad_to_button": 0.020987477525950093,
+            "closest_contact_pad": [
+              0.16976937651634216,
+              -0.3953526616096496,
+              0.7897099521009928
+            ],
+            "closest_contact_pad_button": [
+              0.16976937651634216,
+              -0.3953526616096496,
+              0.7687224745750427
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020987477525950093
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c0e380f3ab3ceb4c3c7b7b2d3ba48e3bd9b9ffce4a7daafa7f23ba0710ea37a",
+    "visual_seed": 3806456994335802326,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..06e36d3b5c5adba9589377e44cd3a9390a22f2b6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_79_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23658507181466928,
+              0.1906572485830064,
+              1.0454763319782823
+            ],
+            "current_z": 1.0454763319782823,
+            "required_z": 0.8565865377422058,
+            "initial_z": 0.7565865377422059,
+            "lift_margin": 0.18888979423607644,
+            "gripper_z": 1.04951404378669,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2315425134286189,
+              0.18589584583344299,
+              1.04951404378669
+            ],
+            "object_minus_gripper": [
+              0.005042558386050389,
+              0.004761402749563409,
+              -0.00403771180840784
+            ],
+            "object_to_gripper_xy": 0.006935297486069151,
+            "object_to_gripper_z": -0.00403771180840784,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23658507181466928,
+              0.16613270763173124,
+              1.0454763319782823
+            ],
+            "finger_b": [
+              0.2250151997900664,
+              0.1906572485830064,
+              1.0454763319782823
+            ],
+            "finger_midpoint": [
+              0.23080013580236786,
+              0.17839497810736882,
+              1.0454763319782823
+            ],
+            "object_minus_finger_midpoint": [
+              0.005784936012301428,
+              0.012262270475637577,
+              0.0
+            ],
+            "finger_gap": 0.027116693152677382,
+            "fingertip_max_gap": 0.09218751366452188,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013558346576338686,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0454763319782823,
+            "object_top_z": 1.091756789329203,
+            "finger_top_clearance": 0.04628045735092079,
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+            "object_projection_between_fingers": 0.8179529453202835,
+            "object_to_finger_line_xy": 0.010463879156311143,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04859375683226094,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6927298905851728,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23591326337054883,
+              0.19051862920966814,
+              1.2413619276172658
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+            "held_position": [
+              0.24118840579051934,
+              0.19492799137600422,
+              1.2372226109145437
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00802518193129122,
+            "max_held_gripper_dist": 0.008027915861442934,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004139316702722162,
+            "max_held_gripper_z_dist": 0.004165311819798845,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08611657858031854,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24118840579051934,
+              0.1697596871171287,
+              1.2372226109145437
+            ],
+            "held_grasp_finger_b": [
+              0.2311109334445648,
+              0.19492799137600422,
+              1.2372226109145437
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+            "held_grasp_midpoint": [
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+              0.18234383924656644,
+              1.2372226109145437
+            ],
+            "held_grasp_object_position": [
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+              0.19492799137600422,
+              1.2372226109145437
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+            "held_grasp_finger_gap": 0.027110864762135697,
+            "held_grasp_max_gap": 0.12496602296829223,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02450253571183065,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06066329085714671,
+              -0.997837124406258,
+              0.02531873415144348
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004278230431191756,
+            "held_grasp_line_xy_max_dist": 0.04748301148414612,
+            "held_grasp_object_top_z": 0.04520072788000107,
+            "held_grasp_top_clearance": 0.032338127388058246,
+            "held_grasp_min_top_clearance": 0.01356021836400032
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "ground",
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.32211023458475785,
+              -0.3288362715939602,
+              0.8470189913544868
+            ],
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+              0.3138828472524471,
+              -0.3318194466735883,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00875152763073863,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18678708837604044,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470189913544868,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575136199012006,
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+            "release_fingertip_min_gap": 0.08510352857905555,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15486811506676568,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1678431811781386,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007964372634887695,
+            "max_z_decrease": 0.007964372634887695,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035133043920891976,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007964372634887695,
+            "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": 0.021114584236292644,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007964372634887695,
+            "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": 0.007964395647694474,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1695827692747116,
+              -0.388080894947052,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1695827692747116,
+              -0.388080894947052,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16971954988349447,
+              -0.38668975714785553,
+              0.8076746769355044
+            ],
+            "closest_button": [
+              0.16957369446754456,
+              -0.3880866169929504,
+              0.7725697159767151
+            ],
+            "closest_ee_minus_button": [
+              0.0001458554159499137,
+              0.0013968598450948555,
+              0.035104960958789344
+            ],
+            "button_min_z_position": [
+              0.16956394910812378,
+              -0.3880844116210937,
+              0.768844485282898
+            ],
+            "min_active_finger_to_button": 0.14545976684232698,
+            "closest_active_finger": [
+              0.042243532836437225,
+              -0.44942837953567505,
+              0.8104237914085388
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+            "closest_active_finger_button": [
+              0.16958561539649963,
+              -0.38808476924896235,
+              0.7760799527168274
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.1273420825600624,
+              -0.0613436102867127,
+              0.034343838691711426
+            ],
+            "min_contact_pad_to_button": 0.021114584236292644,
+            "closest_contact_pad": [
+              0.16956394910812378,
+              -0.3880844116210937,
+              0.7899590695191906
+            ],
+            "closest_contact_pad_button": [
+              0.16956394910812378,
+              -0.3880844116210937,
+              0.768844485282898
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021114584236292644
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c70021b03afab794ebfe00dbac166aa751ecf30e737a65e1910b1e41b12371ba",
+    "visual_seed": 62654542259838066,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5c7789d8c1747ec3d01e71a491ea794c6aa33fe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_7_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23162208440243676,
+              0.1842560387282699,
+              1.0462851869070764
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+            "current_z": 1.0462851869070764,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18969867949851082,
+            "gripper_z": 1.050513774509345,
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+            "gripper_position": [
+              0.22628007156829777,
+              0.17941012414446705,
+              1.050513774509345
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+              0.005342012834138987,
+              0.004845914583802846,
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+            "object_to_gripper_xy": 0.0072124884245050105,
+            "object_to_gripper_z": -0.004228587602268519,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23162208440243676,
+              0.1594012036913047,
+              1.0462851869070764
+            ],
+            "finger_b": [
+              0.22008061227586373,
+              0.1842560387282699,
+              1.0462851869070764
+            ],
+            "finger_midpoint": [
+              0.22585134833915024,
+              0.1718286212097873,
+              1.0462851869070764
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+            "object_minus_finger_midpoint": [
+              0.0057707360632865135,
+              0.012427417518482586,
+              0.0
+            ],
+            "finger_gap": 0.027403802720849073,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8226215933767322,
+            "object_to_finger_line_xy": 0.010467940844263111,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04891597259481434,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8481571170253859,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
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+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eb64529f77554d6e15cc7bf5bbde4205a95d5fb32a64c3c1dd253e158ef6944c",
+    "visual_seed": 2961555311599858858,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2298016f7e038602c6696c3f66dcab344ed27918
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_80_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.19184941382953152,
+              1.0434141768253917
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+            "lift_margin": 0.18682766941682616,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22811033514680748,
+              0.1871343594325035,
+              1.047515822187177
+            ],
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+              0.005061246895509824,
+              0.004715054397028018,
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+            "object_to_gripper_z": -0.0041016453617852555,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2331715820423173,
+              0.16722199489699494,
+              1.0434141768253917
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+              1.0434141768253917
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+              0.17953570436326322,
+              1.0434141768253917
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+              0.012313709466268308,
+              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": 0.04865759027408911,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.19182986080342196,
+              1.2370082619283447
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+            "held_position": [
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+              0.19622343134018524,
+              1.2327788429208795
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004229419007465207,
+            "max_held_gripper_z_dist": 0.0042529255253886955,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0861235219159672,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.17103292756495256,
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+              0.1836281794525689,
+              1.2327788429208795
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+              0.19622343134018524,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024552918002548992,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              0.02424344940413014
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+            "held_grasp_object_to_finger_line_xy": 0.004224032884180094,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08567730730364191,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15671781957740835,
+            "release_required_pad_clearance": 0.05283865365182096,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7209039373204581,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007931709289550781,
+            "max_z_decrease": 0.007931709289550781,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502350716663237,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007931709289550781,
+            "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": 0.021241764816043396,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007931709289550781,
+            "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": 0.007931731805252668,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1739177405834198,
+              -0.39204734563827515,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1739177405834198,
+              -0.39204734563827515,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17393878564538792,
+              -0.39209882645766714,
+              0.8073211383440673
+            ],
+            "closest_button": [
+              0.1739046424627304,
+              -0.39205107092857355,
+              0.7722976803779602
+            ],
+            "closest_ee_minus_button": [
+              3.414318265751448e-05,
+              -4.7755529093584936e-05,
+              0.03502345796610706
+            ],
+            "button_min_z_position": [
+              0.1738991439342499,
+              -0.3920507133007049,
+              0.7688771486282349
+            ],
+            "min_active_finger_to_button": 0.14623034052402256,
+            "closest_active_finger": [
+              0.033079035580158234,
+              -0.37370994687080383,
+              0.8077147006988525
+            ],
+            "closest_active_finger_button": [
+              0.17392687499523163,
+              -0.3920523524284362,
+              0.7729475498199463
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1408478394150734,
+              0.01834240555763239,
+              0.03476715087890625
+            ],
+            "min_contact_pad_to_button": 0.021241764816043396,
+            "closest_contact_pad": [
+              0.1738991439342499,
+              -0.3935809234502889,
+              0.7900637252605794
+            ],
+            "closest_contact_pad_button": [
+              0.1738991439342499,
+              -0.3920507133007049,
+              0.7688771486282349
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015302101495839882,
+              0.021186576632344578
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e5d1a9b6bf2eb5f7524726b6fe25604d94964da35fb00cbd1667532d8161f519",
+    "visual_seed": 3813864563038092371,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6c3a12e5dd934073e2594809f1986224455dae6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_81_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2340126852828864,
+              0.19154343099059792,
+              1.0443725681849818
+            ],
+            "current_z": 1.0443725681849818,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.1877859415671267,
+            "gripper_z": 1.048298275756966,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22878315697493937,
+              0.18675452802453188,
+              1.048298275756966
+            ],
+            "object_minus_gripper": [
+              0.00522952830794704,
+              0.004788902966066044,
+              -0.003925707571984294
+            ],
+            "object_to_gripper_xy": 0.007090949015612479,
+            "object_to_gripper_z": -0.003925707571984294,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2340126852828864,
+              0.16675684640269528,
+              1.0443725681849818
+            ],
+            "finger_b": [
+              0.22256972280602166,
+              0.19154343099059792,
+              1.0443725681849818
+            ],
+            "finger_midpoint": [
+              0.22829120404445402,
+              0.1791501386966466,
+              1.0443725681849818
+            ],
+            "object_minus_finger_midpoint": [
+              0.005721481238432385,
+              0.012393292293951336,
+              0.0
+            ],
+            "finger_gap": 0.027300479222537234,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013650239611268636,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0443725681849818,
+            "object_top_z": 1.0908587968975476,
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+            "object_projection_between_fingers": 0.8243143027632217,
+            "object_to_finger_line_xy": 0.010389266615322225,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04886532916186637,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7841650321212021,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2332551531641674,
+              0.19126795899141272,
+              1.2373905130179574
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+            "held_position": [
+              0.23865977056957136,
+              0.19573848421588644,
+              1.2333301717293825
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008104434370217172,
+            "max_held_gripper_dist": 0.008107161134373271,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004060341288574909,
+            "max_held_gripper_z_dist": 0.004084238421338204,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08634873961706752,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+                "beaker_b"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
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+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3251621621748466,
+              -0.33484010853643265,
+              0.8470194488958902
+            ],
+            "target_position": [
+              0.3168374011831924,
+              -0.33745271539632987,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008725099436255686,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18744510067541975,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194488958902,
+            "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": 0.07526357412493312,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08541306569889327,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1566168305264885,
+            "release_required_pad_clearance": 0.05270653284944664,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4664607254058295,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007876098155975342,
+            "max_z_decrease": 0.007876098155975342,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513144959799866,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007876098155975342,
+            "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": 0.021082233875273724,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007876098155975342,
+            "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": 0.007876122772527961,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1725373268127441,
+              -0.3937141597270966,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1725373268127441,
+              -0.3937141597270966,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1724650661187803,
+              -0.3934315407678749,
+              0.8082406859144546
+            ],
+            "closest_button": [
+              0.17253339290618894,
+              -0.39372265338897705,
+              0.7731105089187622
+            ],
+            "closest_ee_minus_button": [
+              -6.832678740864573e-05,
+              0.00029111262110215197,
+              0.03513017699569243
+            ],
+            "button_min_z_position": [
+              0.17251768708229065,
+              -0.3937155902385712,
+              0.7689327597618103
+            ],
+            "min_active_finger_to_button": 0.1460897353650176,
+            "closest_active_finger": [
+              0.046151503920555115,
+              -0.45850661396980286,
+              0.8107015490531921
+            ],
+            "closest_active_finger_button": [
+              0.17253929376602173,
+              -0.39371728897094727,
+              0.776486337184906
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1263877898454666,
+              -0.06478932499885559,
+              0.03421521186828613
+            ],
+            "min_contact_pad_to_button": 0.021082233875273724,
+            "closest_contact_pad": [
+              0.17251768708229065,
+              -0.3944205324659638,
+              0.7900032045038602
+            ],
+            "closest_contact_pad_button": [
+              0.17251768708229065,
+              -0.3937155902385712,
+              0.7689327597618103
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007049422273925909,
+              0.021070444742049887
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0cd1a5a8e204824ae250b4e119f9b51bc4c000ff868486addd1f22fc9d2fea5b",
+    "visual_seed": 2565538064793257980,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6e96b8ad2dd8a37e5bbf63b096bdc117ec04448
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23339702296319445,
+              0.1930710780129593,
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+            "button_max_displacement": 0.008078399782122152,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1765800565481186,
+              -0.39438563585281367,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1765800565481186,
+              -0.39438563585281367,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1765040764372139,
+              -0.39326441199507317,
+              0.8037537421302537
+            ],
+            "closest_button": [
+              0.17658354341983795,
+              -0.3943790197372436,
+              0.7687304615974426
+            ],
+            "closest_ee_minus_button": [
+              -7.946698262403795e-05,
+              0.001114607742170426,
+              0.03502328053281112
+            ],
+            "button_min_z_position": [
+              0.17658354341983795,
+              -0.3943790197372436,
+              0.7687304615974426
+            ],
+            "min_active_finger_to_button": 0.14542727372800138,
+            "closest_active_finger": [
+              0.04941146820783615,
+              -0.45587486028671265,
+              0.8107942938804626
+            ],
+            "closest_active_finger_button": [
+              0.1765846312046051,
+              -0.39438781142234797,
+              0.7762194275856018
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12717316299676895,
+              -0.06148704886436468,
+              0.03457486629486084
+            ],
+            "min_contact_pad_to_button": 0.02110734246906059,
+            "closest_contact_pad": [
+              0.17658354341983795,
+              -0.39447997594619194,
+              0.7898375626288511
+            ],
+            "closest_contact_pad_button": [
+              0.17658354341983795,
+              -0.3943790197372436,
+              0.7687304615974426
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000100956208948344,
+              0.02110710103140845
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7cdbfac07a35aaca169498231bbf8574be388e2fd40caaa63f51bf240ee93c0f",
+    "visual_seed": 7040132711843731379,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a0ac7e65d9f59168ae3c9160b610c5716c51110
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_83_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.233455651318369,
+              0.18597637810405104,
+              1.0452128093538118
+            ],
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+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.18862624234060132,
+            "gripper_z": 1.0495917932511665,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22805490554552052,
+              0.18100038866451362,
+              1.0495917932511665
+            ],
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+              0.005400745772848492,
+              0.0049759894395374205,
+              -0.0043789838973546935
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+            "object_to_gripper_xy": 0.0073436044150899625,
+            "object_to_gripper_z": -0.0043789838973546935,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.233455651318369,
+              0.16122227945291107,
+              1.0452128093538118
+            ],
+            "finger_b": [
+              0.22154529839389978,
+              0.18597637810405104,
+              1.0452128093538118
+            ],
+            "finger_midpoint": [
+              0.2275004748561344,
+              0.17359932877848105,
+              1.0452128093538118
+            ],
+            "object_minus_finger_midpoint": [
+              0.005955176462234618,
+              0.012377049325569989,
+              0.0
+            ],
+            "finger_gap": 0.027470382356563277,
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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": 1.0452128093538118,
+            "object_top_z": 1.0908414370090838,
+            "finger_top_clearance": 0.04562862765527198,
+            "fingertip_min_top_clearance": 0.013688588296581594,
+            "object_projection_between_fingers": 0.8120164475690967,
+            "object_to_finger_line_xy": 0.01073265189524251,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047989414046442816,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.23025729488870308,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23252933876245038,
+              0.18536699934151118,
+              1.2405828663059884
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+            "held_position": [
+              0.2381827999802065,
+              0.18994130795069206,
+              1.2360875369089426
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008549497609838995,
+            "max_held_gripper_dist": 0.00855882988822612,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0044953293970457775,
+            "max_held_gripper_z_dist": 0.004517149129417364,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08665000639747555,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2381827999802065,
+              0.1645331631322707,
+              1.2360875369089426
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+              0.18994130795069206,
+              1.2360875369089426
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+              0.2330232041110652,
+              0.17723723554148138,
+              1.2360875369089426
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+            "held_grasp_object_position": [
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+              0.18994130795069206,
+              1.2360875369089426
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+            "held_grasp_finger_gap": 0.027423704003021042,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02470195261261396,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06312598712461893,
+              -0.9978438787486613,
+              0.01796394704316218
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004353487954719104,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321978394946965,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              -0.33342209337804485,
+              0.8470196246231976
+            ],
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+              -0.3354777681330495,
+              0.8084375599031817
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+            "xy_dist": 0.007287582812843761,
+            "xy_threshold": 0.08,
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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_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.6154823451032517,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007688581943511963,
+            "max_z_decrease": 0.007688581943511963,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511977700467948,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007688581943511963,
+            "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": 0.021106262055283508,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007688581943511963,
+            "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": 0.007688605751292408,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17096811532974238,
+              -0.39173921942710865,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17096811532974238,
+              -0.39173921942710865,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.169353103059065,
+              -0.3915106522618353,
+              0.805996582626075
+            ],
+            "closest_button": [
+              0.170951560139656,
+              -0.3917412161827087,
+              0.7709139585494995
+            ],
+            "closest_ee_minus_button": [
+              -0.0015984570805910037,
+              0.0002305639208733945,
+              0.035082624076575475
+            ],
+            "button_min_z_position": [
+              0.1709491461515426,
+              -0.3917417228221892,
+              0.7691202759742737
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+            "closest_active_finger": [
+              0.04199343919754028,
+              -0.45391249656677246,
+              0.8108635544776917
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+            "closest_active_finger_button": [
+              0.17097134888172144,
+              -0.39174315333366383,
+              0.776498019695282
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12897790968418116,
+              -0.06216934323310863,
+              0.03436553478240967
+            ],
+            "min_contact_pad_to_button": 0.021106262055283508,
+            "closest_contact_pad": [
+              0.1709491461515426,
+              -0.39278990613872095,
+              0.7902004944190917
+            ],
+            "closest_contact_pad_button": [
+              0.1709491461515426,
+              -0.3917417228221892,
+              0.7691202759742737
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010481833165317256,
+              0.021080218444818
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "813211ccf25d09e2b12e23f6ca5b4f35507279503beec0859234ab0152cf44fb",
+    "visual_seed": 4645849825044955624,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..90a1a87b4744aabfd6fd05fca6b9fb36fe4b6c88
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_84_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23642897475157604,
+              0.185639868317871,
+              1.0445669286503207
+            ],
+            "current_z": 1.0445669286503207,
+            "required_z": 0.8565865684187892,
+            "initial_z": 0.7565865684187892,
+            "lift_margin": 0.18798036023153153,
+            "gripper_z": 1.0487235808822426,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23149504581684607,
+              0.18092305223714708,
+              1.0487235808822426
+            ],
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+              0.004933928934729964,
+              0.004716816080723912,
+              -0.0041566522319218535
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+            "object_to_gripper_xy": 0.006825833917723258,
+            "object_to_gripper_z": -0.0041566522319218535,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23642897475157604,
+              0.16121800755563523,
+              1.0445669286503207
+            ],
+            "finger_b": [
+              0.22488557487072147,
+              0.185639868317871,
+              1.0445669286503207
+            ],
+            "finger_midpoint": [
+              0.23065727481114875,
+              0.17342893793675312,
+              1.0445669286503207
+            ],
+            "object_minus_finger_midpoint": [
+              0.005771699940427283,
+              0.012210930381117868,
+              0.0
+            ],
+            "finger_gap": 0.027012540863446073,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013506270431723026,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0445669286503207,
+            "object_top_z": 1.0911776221657292,
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+            "object_projection_between_fingers": 0.8173849328458893,
+            "object_to_finger_line_xy": 0.010436312009231497,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04884487889077724,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9052817979954003,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ee7d2323bffcdd39bbe166b7180d5f5508c55e9168e97789deeca215a7b305e4",
+    "visual_seed": 3165768676648159374,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
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+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b5d0aa08563c4cfedd3f3bef21f035a62b8e1ae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_85_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.18604027486731572,
+              1.0435257814115666
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+              0.18107236056436937,
+              1.0478017241601127
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+              0.004967914302946352,
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+              0.16126472618041698,
+              1.0435257814115666
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+              1.0435257814115666
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+              0.17365250052386635,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.18566866559771195,
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+              0.1902596002917283,
+              1.2334979952015477
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+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.004405279018656394,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.17754868456745398,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
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+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1564737015247404,
+            "release_required_pad_clearance": 0.05265096328306394,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.360451482736093,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007935702800750732,
+            "max_z_decrease": 0.007935702800750732,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513703098631876,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007935702800750732,
+            "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": 0.021131446016823256,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007935702800750732,
+            "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": 0.00793572465470406,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16899771988391873,
+              -0.3868527114391327,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16899771988391873,
+              -0.3868527114391327,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16984027741080385,
+              -0.38725188529675486,
+              0.8079931463832873
+            ],
+            "closest_button": [
+              0.1689920872449875,
+              -0.3868623673915863,
+              0.7728685140609741
+            ],
+            "closest_ee_minus_button": [
+              0.0008481901658163593,
+              -0.0003895179051685571,
+              0.03512463232231322
+            ],
+            "button_min_z_position": [
+              0.16897931694984436,
+              -0.38685557246208196,
+              0.7688731551170349
+            ],
+            "min_active_finger_to_button": 0.14532885566100745,
+            "closest_active_finger": [
+              0.02848687767982483,
+              -0.3726827800273895,
+              0.8104572892189026
+            ],
+            "closest_active_finger_button": [
+              0.16899868845939633,
+              -0.3868567645549774,
+              0.7761643528938293
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1405118107795715,
+              0.01417398452758789,
+              0.03429293632507324
+            ],
+            "min_contact_pad_to_button": 0.021131446016823256,
+            "closest_contact_pad": [
+              0.16897931694984436,
+              -0.3882938551413947,
+              0.7899555969513269
+            ],
+            "closest_contact_pad_button": [
+              0.16897931694984436,
+              -0.38685557246208196,
+              0.7688731551170349
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014382826793127301,
+              0.021082441834291976
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fc5d46a5d6ad85fbd347a0bd802f34bafb516fa8906fdaceeddc76a1ec84abae",
+    "visual_seed": 4254860514982580510,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..683e187016d4bb7e37bdff074c5a4ba8e47dd730
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_86_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2343586312880348,
+              0.19269865261072794,
+              1.0439210084999615
+            ],
+            "current_z": 1.0439210084999615,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18733450109139593,
+            "gripper_z": 1.048176501178673,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22935164706902783,
+              0.18780120290574592,
+              1.048176501178673
+            ],
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+              0.005006984219006971,
+              0.004897449704982015,
+              -0.004255492678711503
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+            "object_to_gripper_z": -0.004255492678711503,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2343586312880348,
+              0.16840708556703018,
+              1.0439210084999615
+            ],
+            "finger_b": [
+              0.22232453376615816,
+              0.19269865261072794,
+              1.0439210084999615
+            ],
+            "finger_midpoint": [
+              0.22834158252709646,
+              0.18055286908887908,
+              1.0439210084999615
+            ],
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+              0.006017048760938337,
+              0.012145783521848863,
+              0.0
+            ],
+            "finger_gap": 0.027109034151081454,
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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": 0.8029397797536348,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049213578202034425,
+            "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": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.19225803364402633,
+              1.2394994044045506
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+              0.1966873892381053,
+              1.2351303883752713
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0081967502933264,
+            "max_held_gripper_dist": 0.008200773685610913,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0043690160292793045,
+            "max_held_gripper_z_dist": 0.004393578245992069,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0864476180925143,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23919297547635757,
+              0.17143815809796706,
+              1.2351303883752713
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+            "held_grasp_finger_b": [
+              0.22916549300929845,
+              0.1966873892381053,
+              1.2351303883752713
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+            "held_grasp_midpoint": [
+              0.234179234242828,
+              0.1840627736680362,
+              1.2351303883752713
+            ],
+            "held_grasp_object_position": [
+              0.23919297547635757,
+              0.1966873892381053,
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+                "beaker_b"
+              ],
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32564650706518505,
+              -0.3287383620642362,
+              0.8470194980615134
+            ],
+            "target_position": [
+              0.31944146400683143,
+              -0.33027932862486775,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00639352307394031,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1854847484421075,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194980615134,
+            "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": 0.07558569470949184,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08585774891519436,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15363732749001024,
+            "release_required_pad_clearance": 0.05292887445759718,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8952488064967971,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007797956466674805,
+            "max_z_decrease": 0.007797956466674805,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514288218772719,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007797956466674805,
+            "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": 0.021174257374636133,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007797956466674805,
+            "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": 0.007797982247142811,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17514139413833615,
+              -0.386540800333023,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17514139413833615,
+              -0.386540800333023,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17653641132339984,
+              -0.3872055287493212,
+              0.8079282837900976
+            ],
+            "closest_button": [
+              0.1751317381858825,
+              -0.38654503226280207,
+              0.7728196978569031
+            ],
+            "closest_ee_minus_button": [
+              0.001404673137517326,
+              -0.0006604964865191132,
+              0.03510858593319455
+            ],
+            "button_min_z_position": [
+              0.17512156069278711,
+              -0.38654375076293945,
+              0.7690109014511108
+            ],
+            "min_active_finger_to_button": 0.14478325462533703,
+            "closest_active_finger": [
+              0.035149700939655304,
+              -0.3731580078601837,
+              0.8103107810020447
+            ],
+            "closest_active_finger_button": [
+              0.17514495551586146,
+              -0.3865442872047424,
+              0.7758967280387878
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13999525457620615,
+              0.01338627934455866,
+              0.034414052963256836
+            ],
+            "min_contact_pad_to_button": 0.021174257374636133,
+            "closest_contact_pad": [
+              0.17512156069278711,
+              -0.3882248668904869,
+              0.7901183177764936
+            ],
+            "closest_contact_pad_button": [
+              0.17512156069278711,
+              -0.38654375076293945,
+              0.7690109014511108
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001681116127547455,
+              0.02110741632538271
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "86abbca4e0d4c7e251b86edcc9d8032c212a3170b7ef090c404aa7b47718ea60",
+    "visual_seed": 2501545987774152486,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..609dcc3833e1909371f27188c66af6b6d777ccd3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_87_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23770432780488013,
+              0.18589181917125458,
+              1.0458129294885377
+            ],
+            "current_z": 1.0458129294885377,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1892264220799721,
+            "gripper_z": 1.0501375137056272,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23244681506746123,
+              0.18094706222589196,
+              1.0501375137056272
+            ],
+            "object_minus_gripper": [
+              0.005257512737418896,
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+              -0.13942933827638626,
+              0.01585626602172846,
+              0.0346030592918396
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+            "closest_contact_pad": [
+              0.174699604511261,
+              -0.38883740263267796,
+              0.7900949591524727
+            ],
+            "closest_contact_pad_button": [
+              0.174699604511261,
+              -0.3873777389526366,
+              0.7689372301101685
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014596636800413565,
+              0.021157729042304285
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "791203f4ee9561d82e8ed006528c33fb3caa05f9194d4c370aa7416140ad288c",
+    "visual_seed": 4880944897660933602,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7bbdd002ded54b10023104577457fbd0832781e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_88_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.1959641854224229,
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+            "lift_margin": 0.18701033594921113,
+            "gripper_z": 1.0475500385143532,
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+              0.23196517346266976,
+              0.1911199098862877,
+              1.0475500385143532
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+              0.004844275536135201,
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+            "object_to_gripper_z": -0.003953022287043195,
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+              0.17151591957247023,
+              1.04359701622731
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+            "finger_midpoint": [
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+              0.18374005249744657,
+              1.04359701622731
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+              0.012224132924976316,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048545229456852274,
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+              0.0,
+              1.0
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+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.004079617191041329,
+            "max_held_gripper_z_dist": 0.004108115304224835,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.19996970521188745,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9972971016270388,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004135618634111377,
+            "held_grasp_line_xy_max_dist": 0.04748278796672821,
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+            "held_grasp_min_top_clearance": 0.013560150191187859
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31967565635595857,
+              -0.3293053537709841,
+              0.8470199785530061
+            ],
+            "target_position": [
+              0.3120643426485056,
+              -0.3318369705872916,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008021295410211056,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1884530802608584,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199785530061,
+            "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": 0.07581867248850548,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498565019888964,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15628251794429657,
+            "release_required_pad_clearance": 0.05249282509944482,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.05591724421295654,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007846951484680176,
+            "max_z_decrease": 0.007846951484680176,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511797870359011,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007846951484680176,
+            "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": 0.021130370409967153,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007846951484680176,
+            "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": 0.007846972850697761,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16776426136493688,
+              -0.38809841871261586,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16776426136493688,
+              -0.38809841871261586,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16831540481999158,
+              -0.38704760907808483,
+              0.8076185273109983
+            ],
+            "closest_button": [
+              0.16775400936603552,
+              -0.3881029784679412,
+              0.772520899772644
+            ],
+            "closest_ee_minus_button": [
+              0.0005613954539560595,
+              0.001055369389856342,
+              0.035097627538354215
+            ],
+            "button_min_z_position": [
+              0.1677463203668595,
+              -0.38810208439826954,
+              0.7689619064331055
+            ],
+            "min_active_finger_to_button": 0.1452419816542213,
+            "closest_active_finger": [
+              0.040443696081638336,
+              -0.4489422142505646,
+              0.811187744140625
+            ],
+            "closest_active_finger_button": [
+              0.16776718199253088,
+              -0.38810086250305165,
+              0.7768032550811768
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12732348591089254,
+              -0.06084135174751293,
+              0.03438448905944824
+            ],
+            "min_contact_pad_to_button": 0.021130370409967153,
+            "closest_contact_pad": [
+              0.1677463203668595,
+              -0.3884026681686639,
+              0.7900901388026008
+            ],
+            "closest_contact_pad_button": [
+              0.1677463203668595,
+              -0.38810208439826954,
+              0.7689619064331055
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00030058377039438033,
+              0.021128232369495348
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b3899f1f0741ceb7c3d28224a2c6e85ea78112f70b8df3f5c7ffdd23d44a12d4",
+    "visual_seed": 4190445273083726699,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..717d20f75399eca0670bedf68b2eca226a9fe6f3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_89_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23524386062340122,
+              0.18324976239357138,
+              1.046221924387412
+            ],
+            "current_z": 1.046221924387412,
+            "required_z": 0.8565865623378993,
+            "initial_z": 0.7565865623378993,
+            "lift_margin": 0.1896353620495127,
+            "gripper_z": 1.0503450250787485,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23024483500119092,
+              0.17848950441088846,
+              1.0503450250787485
+            ],
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+              0.004999025622210301,
+              0.004760257982682925,
+              -0.004123100691336479
+            ],
+            "object_to_gripper_xy": 0.00690292063066146,
+            "object_to_gripper_z": -0.004123100691336479,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23524386062340122,
+              0.15879778787416546,
+              1.046221924387412
+            ],
+            "finger_b": [
+              0.22361606886779126,
+              0.18324976239357138,
+              1.046221924387412
+            ],
+            "finger_midpoint": [
+              0.22942996474559624,
+              0.1710237751338684,
+              1.046221924387412
+            ],
+            "object_minus_finger_midpoint": [
+              0.005813895877804981,
+              0.012225987259702975,
+              0.0
+            ],
+            "finger_gap": 0.027075904398736295,
+            "fingertip_max_gap": 0.0921771151560336,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01353795219936816,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046221924387412,
+            "object_top_z": 1.0925506768791606,
+            "finger_top_clearance": 0.046328752491748615,
+            "fingertip_min_top_clearance": 0.0138986257475246,
+            "object_projection_between_fingers": 0.8155712823320079,
+            "object_to_finger_line_xy": 0.010500940745617464,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048588557578016806,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7352822125136902,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heat_button",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
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+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "206754ae004835d2c099d925d6eb0d4775b4b9686c60fa1388a04377cb031c1f",
+    "visual_seed": 6017184820707464321,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      3555770340888182057,
+      838946150517897658,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b01072a29a9f1691f380b1c6ca17bcf4bf70b25
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_8_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "desk",
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+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "passed": true,
+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+              0.1905584104419651,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              ],
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_min_pad_clearance": 0.1567866768449541,
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+            "force_virtual_attach": false,
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+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9211033248453491,
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+            "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
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007933437824249268,
+            "max_z_decrease": 0.007933437824249268,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510544112502664,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007933437824249268,
+            "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": 0.021166350778066924,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007933437824249268,
+            "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": 0.007933461243225953,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16757038235664365,
+              -0.39015218615531916,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16757038235664365,
+              -0.39015218615531916,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16693418448375377,
+              -0.39072789117992124,
+              0.8076147596289908
+            ],
+            "closest_button": [
+              0.16755951941013336,
+              -0.39015716314315796,
+              0.7725195288658142
+            ],
+            "closest_ee_minus_button": [
+              -0.0006253349263795893,
+              -0.0005707280367632794,
+              0.035095230763176555
+            ],
+            "button_min_z_position": [
+              0.1675513237714767,
+              -0.3901550769805908,
+              0.7688754200935364
+            ],
+            "min_active_finger_to_button": 0.1467361304764829,
+            "closest_active_finger": [
+              0.02593902498483658,
+              -0.37323468923568726,
+              0.8105219006538391
+            ],
+            "closest_active_finger_button": [
+              0.16757354140281672,
+              -0.39015701413154596,
+              0.7761011123657227
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14163451641798014,
+              0.01692232489585871,
+              0.034420788288116455
+            ],
+            "min_contact_pad_to_button": 0.021166350778066924,
+            "closest_contact_pad": [
+              0.1675513237714767,
+              -0.39207643633015454,
+              0.7899543855214225
+            ],
+            "closest_contact_pad_button": [
+              0.1675513237714767,
+              -0.3901550769805908,
+              0.7688754200935364
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019213593495637227,
+              0.02107896542788612
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a6eeaf72d81b1c1e773c8a0926c0f349599e0239732ba95a46dff0ad8c47d8d3",
+    "visual_seed": 5743041458801069956,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..320f68766bfe4c5dd510804cb11ebfc849cb7941
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_90_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23676267010802496,
+              0.18843982551839802,
+              1.046867669728988
+            ],
+            "current_z": 1.046867669728988,
+            "required_z": 0.8565865725135631,
+            "initial_z": 0.7565865725135631,
+            "lift_margin": 0.19028109721542497,
+            "gripper_z": 1.0507420333773387,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2317705452134849,
+              0.18358097868946094,
+              1.0507420333773387
+            ],
+            "object_minus_gripper": [
+              0.004992124894540068,
+              0.004858846828937086,
+              -0.0038743636483506982
+            ],
+            "object_to_gripper_xy": 0.006966326397015766,
+            "object_to_gripper_z": -0.0038743636483506982,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23676267010802496,
+              0.16411846962878557,
+              1.046867669728988
+            ],
+            "finger_b": [
+              0.22483917887575686,
+              0.18843982551839802,
+              1.046867669728988
+            ],
+            "finger_midpoint": [
+              0.2308009244918909,
+              0.1762791475735918,
+              1.046867669728988
+            ],
+            "object_minus_finger_midpoint": [
+              0.005961745616134051,
+              0.012160677944806214,
+              0.0
+            ],
+            "finger_gap": 0.027086860199645894,
+            "fingertip_max_gap": 0.09121563248861433,
+            "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": 1.046867669728988,
+            "object_top_z": 1.0927033531389032,
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+            "object_projection_between_fingers": 0.8062286607803777,
+            "object_to_finger_line_xy": 0.01070613100112864,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04810781624430717,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3967139263314163,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23635352461073011,
+              0.18795919751307186,
+              1.242755160940647
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+            "held_position": [
+              0.24166472105683887,
+              0.19237005247657965,
+              1.238773273187113
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00796993596461125,
+            "max_held_gripper_dist": 0.007977855081658762,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00398188775353403,
+            "max_held_gripper_z_dist": 0.004006296206038318,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08655807107280739,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24166472105683887,
+              0.16713674245073018,
+              1.238773273187113
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+            "held_grasp_finger_b": [
+              0.2316579724563959,
+              0.19237005247657965,
+              1.238773273187113
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+            "held_grasp_midpoint": [
+              0.23666134675661737,
+              0.17975339746365493,
+              1.238773273187113
+            ],
+            "held_grasp_object_position": [
+              0.24166472105683887,
+              0.19237005247657965,
+              1.238773273187113
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+            "held_grasp_finger_gap": 0.02714507234127591,
+            "held_grasp_max_gap": 0.1249656280875206,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024418030469350174,
+            "held_grasp_world_z_skew": 0.0,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+                "/World/target_beaker"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32927464833817544,
+              -0.32953399027410235,
+              0.8470195249167337
+            ],
+            "target_position": [
+              0.32090731260606675,
+              -0.33226646560797446,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008802200219492979,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1887685624366141,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195249167337,
+            "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": 0.07532388100960079,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08651386988388064,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1577641867912192,
+            "release_required_pad_clearance": 0.05325693494194032,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5338765530937388,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076528191566467285,
+            "max_z_decrease": 0.0076528191566467285,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504303727518075,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076528191566467285,
+            "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": 0.0212176025625761,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.0076528191566467285,
+            "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": 0.007652844281112475,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17660723626613617,
+              -0.3885279297828674,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17660723626613617,
+              -0.3885279297828674,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17636524810512885,
+              -0.3868677503659298,
+              0.8074495103926139
+            ],
+            "closest_button": [
+              0.17659644782543182,
+              -0.3885314464569091,
+              0.7724467515945435
+            ],
+            "closest_ee_minus_button": [
+              -0.00023119972030297142,
+              0.0016636960909793275,
+              0.035002758798070466
+            ],
+            "button_min_z_position": [
+              0.17658804357051847,
+              -0.3885319530963897,
+              0.7691560387611389
+            ],
+            "min_active_finger_to_button": 0.14579660745953674,
+            "closest_active_finger": [
+              0.04810214042663574,
+              -0.44792455434799194,
+              0.8079811334609985
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+            "closest_active_finger_button": [
+              0.1766196936368942,
+              -0.38853272795677174,
+              0.7731601595878601
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12851755321025846,
+              -0.059391826391220204,
+              0.03482097387313843
+            ],
+            "min_contact_pad_to_button": 0.0212176025625761,
+            "closest_contact_pad": [
+              0.17658804357051847,
+              -0.3885319530963897,
+              0.790373641323715
+            ],
+            "closest_contact_pad_button": [
+              0.17658804357051847,
+              -0.3885319530963897,
+              0.7691560387611389
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.0212176025625761
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ae5f3ced38a162e2a5273100381e9389026135ebeec201c2b2391fbbe90851f4",
+    "visual_seed": 707277438179082892,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e80c9532cd2525e134aae44b63a822a098b9121
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_91_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23927406599333795,
+              0.18654490207009375,
+              1.0447765262505972
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+            "current_z": 1.0447765262505972,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1881899592373869,
+            "gripper_z": 1.048550848807552,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23427474729828815,
+              0.18163777573110867,
+              1.048550848807552
+            ],
+            "object_minus_gripper": [
+              0.004999318695049798,
+              0.004907126338985074,
+              -0.0037743225569546457
+            ],
+            "object_to_gripper_xy": 0.007005217792576864,
+            "object_to_gripper_z": -0.0037743225569546457,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23927406599333795,
+              0.16229898706399548,
+              1.0447765262505972
+            ],
+            "finger_b": [
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+              0.012703567743301392,
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+            ],
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+            "closest_contact_pad": [
+              0.17564399540424347,
+              -0.3967439890017814,
+              0.7895836382445522
+            ],
+            "closest_contact_pad_button": [
+              0.17564399540424347,
+              -0.39431050419807434,
+              0.7686145305633545
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024334848037070866,
+              0.02096910768119775
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c7a583570267bb2f217679309039a2f950d6955e624f648ff9c8504b3f35d71e",
+    "visual_seed": 2775342554188347305,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..72bbd800eeecf2206c02125c60a2cff4b1f733f3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_92_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.18518215188761927,
+              1.0453581680149495
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+              0.18023896516244756,
+              1.0497082370161936
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+              0.0049431867251717165,
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+              0.16032463175113038,
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+              0.17275339181937482,
+              1.0453581680149495
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+              0.012428760068244449,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.008541624012838858,
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+            "max_held_gripper_z_dist": 0.0044846482927431985,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0867449906919747,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.16400032456339209,
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+              0.17670137635400907,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.00459254640038897,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3273741302194819,
+              -0.3331214368603642,
+              0.847019337758969
+            ],
+            "target_position": [
+              0.3195887374381341,
+              -0.3353852541548767,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008107848635908082,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1863423056954513,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019337758969,
+            "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": 0.07553446248190662,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08644679997330022,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15492281184339804,
+            "release_required_pad_clearance": 0.05322339998665011,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.468174293638383,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008037090301513672,
+            "max_z_decrease": 0.008037090301513672,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508991917311898,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008037090301513672,
+            "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": 0.02118834206044557,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008037090301513672,
+            "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": 0.00803710653375078,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17528866231441492,
+              -0.3916467130184173,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17528866231441492,
+              -0.3916467130184173,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17683088302748565,
+              -0.3914035408974447,
+              0.8038262140717906
+            ],
+            "closest_button": [
+              0.17527259886264795,
+              -0.3916484117507934,
+              0.768771767616272
+            ],
+            "closest_ee_minus_button": [
+              0.0015582841648376922,
+              0.00024487085334867764,
+              0.035054446455518584
+            ],
+            "button_min_z_position": [
+              0.17527259886264795,
+              -0.3916484117507934,
+              0.768771767616272
+            ],
+            "min_active_finger_to_button": 0.14439921556131916,
+            "closest_active_finger": [
+              0.036158427596092224,
+              -0.37467363476753235,
+              0.8075916767120361
+            ],
+            "closest_active_finger_button": [
+              0.17529797554016108,
+              -0.39165383577346796,
+              0.7729074954986572
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13913954794406885,
+              0.016980201005935613,
+              0.034684181213378906
+            ],
+            "min_contact_pad_to_button": 0.02118834206044557,
+            "closest_contact_pad": [
+              0.17527259886264795,
+              -0.39264258493951026,
+              0.7899367731428785
+            ],
+            "closest_contact_pad_button": [
+              0.17527259886264795,
+              -0.3916484117507934,
+              0.768771767616272
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009941731887168626,
+              0.021165005526606495
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f68ad58decc0e86c99edcecd2cf3eb82c11ea974d700c51b7888df14665abda9",
+    "visual_seed": 4263448467409725831,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f250ecf019edb6f6e97047965257293b732b101
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_93_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23812741571828125,
+              0.19087430227287988,
+              1.0457820523338357
+            ],
+            "current_z": 1.0457820523338357,
+            "required_z": 0.8565865560614926,
+            "initial_z": 0.7565865560614926,
+            "lift_margin": 0.1891954962723431,
+            "gripper_z": 1.0497965869943893,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23307406766365785,
+              0.18601399957444842,
+              1.0497965869943893
+            ],
+            "object_minus_gripper": [
+              0.005053348054623402,
+              0.004860302698431462,
+              -0.00401453466055357
+            ],
+            "object_to_gripper_xy": 0.007011338594130673,
+            "object_to_gripper_z": -0.00401453466055357,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23812741571828125,
+              0.16646611926669813,
+              1.0457820523338357
+            ],
+            "finger_b": [
+              0.22625681441808593,
+              0.19087430227287988,
+              1.0457820523338357
+            ],
+            "finger_midpoint": [
+              0.2321921150681836,
+              0.178670210769789,
+              1.0457820523338357
+            ],
+            "object_minus_finger_midpoint": [
+              0.005935300650097647,
+              0.012204091503090875,
+              0.0
+            ],
+            "finger_gap": 0.027141675941095796,
+            "fingertip_max_gap": 0.09192747049264474,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013570837970547893,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0457820523338357,
+            "object_top_z": 1.0920407018969023,
+            "finger_top_clearance": 0.04625864956306658,
+            "fingertip_min_top_clearance": 0.01387759486891994,
+            "object_projection_between_fingers": 0.8087188759622671,
+            "object_to_finger_line_xy": 0.010675089097570626,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04846373524632237,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6835979291572738,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
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+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a96c3b21b981e489af13510859a1a5cde4431af2c627be447d1a2f08f2449c56",
+    "visual_seed": 8287807904334894765,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..34d6e30509f0d04a9d116cee2c8c7d4c1645f2e0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_94_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+    {
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+              1.0492062499466883
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+              0.005012726415069391,
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+              0.1776141311853348,
+              1.045245286280632
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+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+                },
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+          }
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.1933532284406569,
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+            "held_shake_count": 5,
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+              0.18065886592812302,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15722016139117292,
+            "release_required_pad_clearance": 0.05317696986209762,
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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": 1.3774048171328115,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008135497570037842,
+            "max_z_decrease": 0.008135497570037842,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503213471358805,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008135497570037842,
+            "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": 0.020976068791494495,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008135497570037842,
+            "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": 0.0081355476872804,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16944548487663263,
+              -0.39557036757469166,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16944548487663263,
+              -0.39557036757469166,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16982109232723952,
+              -0.3958240945602698,
+              0.80370263858226
+            ],
+            "closest_button": [
+              0.16946662962436676,
+              -0.39555117487907404,
+              0.7686733603477478
+            ],
+            "closest_ee_minus_button": [
+              0.00035446270287275983,
+              -0.00027291968119574905,
+              0.035029278234512184
+            ],
+            "button_min_z_position": [
+              0.16946662962436676,
+              -0.39555117487907404,
+              0.7686733603477478
+            ],
+            "min_active_finger_to_button": 0.14531660069498453,
+            "closest_active_finger": [
+              0.02888987958431244,
+              -0.38189947605133057,
+              0.8107820749282837
+            ],
+            "closest_active_finger_button": [
+              0.1694472730159759,
+              -0.3955736756324767,
+              0.7765249609947205
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14055739343166346,
+              0.01367419958114613,
+              0.03425711393356323
+            ],
+            "min_contact_pad_to_button": 0.020976068791494495,
+            "closest_contact_pad": [
+              0.16946662962436676,
+              -0.39680615633230776,
+              0.7896118532137004
+            ],
+            "closest_contact_pad_button": [
+              0.16946662962436676,
+              -0.39555117487907404,
+              0.7686733603477478
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012549814532337167,
+              0.020938492865952618
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7a3b2fdc483d2c26fbc237301a5f5e9bca11a6d3fa6f328b78b2c8ea7f95edde",
+    "visual_seed": 6384352174368358843,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fe83acd8a9550697d22ba5b0d1559ba9442277a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_95_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2382778639257307,
+              0.1891370023635099,
+              1.0451478177662368
+            ],
+            "current_z": 1.0451478177662368,
+            "required_z": 0.8565865602753465,
+            "initial_z": 0.7565865602753465,
+            "lift_margin": 0.18856125749089026,
+            "gripper_z": 1.0494651268403021,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23304230499963408,
+              0.18429658979018843,
+              1.0494651268403021
+            ],
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+              0.005235558926096617,
+              0.004840412573321462,
+              -0.004317309074065356
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+            "object_to_gripper_xy": 0.007130264451519205,
+            "object_to_gripper_z": -0.004317309074065356,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2382778639257307,
+              0.16443988829120992,
+              1.0451478177662368
+            ],
+            "finger_b": [
+              0.2266444609733425,
+              0.1891370023635099,
+              1.0451478177662368
+            ],
+            "finger_midpoint": [
+              0.2324611624495366,
+              0.1767884453273599,
+              1.0451478177662368
+            ],
+            "object_minus_finger_midpoint": [
+              0.005816701476194092,
+              0.012348557036149982,
+              0.0
+            ],
+            "finger_gap": 0.027299881094115245,
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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": 1.0921146245541962,
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+            "object_to_finger_line_xy": 0.01052427586675806,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04928773433855069,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.100329848918564,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23730086512594328,
+              0.18903041795835693,
+              1.2400959159040787
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+            "held_position": [
+              0.24272848608917177,
+              0.1935436082270381,
+              1.2356647708347335
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00833444673312984,
+            "max_held_gripper_dist": 0.008337545376781807,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004431145069345277,
+            "max_held_gripper_z_dist": 0.0044575433841747,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08679639601845687,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.24272848608917177,
+              0.16830026653352032,
+              1.2356647708347335
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+              0.1935436082270381,
+              1.2356647708347335
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+              0.2376000779810537,
+              0.1809219373802792,
+              1.2356647708347335
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+            "held_grasp_object_position": [
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+              0.1935436082270381,
+              1.2356647708347335
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+            "held_grasp_finger_gap": 0.027247542618543362,
+            "held_grasp_max_gap": 0.1249658516049385,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024727713212959225,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04638153574728536,
+              -0.9984193220907,
+              0.03174287979485246
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004555462696144341,
+            "held_grasp_line_xy_max_dist": 0.04748292580246925,
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+                "beaker_b"
+              ],
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+                "/World/target_beaker"
+              ],
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3286009239312949,
+              -0.3282860187656225,
+              0.8470196091731529
+            ],
+            "target_position": [
+              0.3208345734758707,
+              -0.33091838691998865,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008200339108633806,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18746030184045157,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196091731529,
+            "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": 0.07522256426830767,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08520030476197325,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15665952814226417,
+            "release_required_pad_clearance": 0.05260015238098663,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.26244132283672567,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00773167610168457,
+            "max_z_decrease": 0.00773167610168457,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035108833927266846,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00773167610168457,
+            "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": 0.021154248964760054,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00773167610168457,
+            "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": 0.00773170038365184,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17653450369834894,
+              -0.3871798515319824,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17653450369834894,
+              -0.3871798515319824,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17523490784279364,
+              -0.38785180197876246,
+              0.8059006737273979
+            ],
+            "closest_button": [
+              0.17651787400245664,
+              -0.3871816098690033,
+              0.7708216905593872
+            ],
+            "closest_ee_minus_button": [
+              -0.0012829661596630015,
+              -0.0006701921097591601,
+              0.035078983168010724
+            ],
+            "button_min_z_position": [
+              0.17651526629924771,
+              -0.38718217611312866,
+              0.7690771818161011
+            ],
+            "min_active_finger_to_button": 0.1471643910770091,
+            "closest_active_finger": [
+              0.03414361923933029,
+              -0.37316247820854187,
+              0.8097612261772156
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+            "closest_active_finger_button": [
+              0.1765368282794952,
+              -0.387185126543045,
+              0.775338888168335
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14239320904016492,
+              0.014022648334503118,
+              0.034422338008880615
+            ],
+            "min_contact_pad_to_button": 0.021154248964760054,
+            "closest_contact_pad": [
+              0.17651526629924771,
+              -0.38894356390090223,
+              0.7901579731277225
+            ],
+            "closest_contact_pad_button": [
+              0.17651526629924771,
+              -0.38718217611312866,
+              0.7690771818161011
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017613877877735717,
+              0.02108079131162144
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a5fe0f4702c4dffca4ab3d5edbbd11cb17e523c28c54dc7271c70a171974fb05",
+    "visual_seed": 2870719933844498138,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..76829d0ceaeaf5d34b30397bbfa5ac3e11f7e96f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_96_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23108875184723815,
+              0.18682098400648287,
+              1.0458973456026806
+            ],
+            "current_z": 1.0458973456026806,
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+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.18931071898482543,
+            "gripper_z": 1.0499740871545677,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22600812948275106,
+              0.18188586465914136,
+              1.0499740871545677
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+              0.005080622364487086,
+              0.0049351193473415045,
+              -0.0040767415518871974
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+            "object_to_gripper_xy": 0.007082946179594391,
+            "object_to_gripper_z": -0.0040767415518871974,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23108875184723815,
+              0.1624774006656088,
+              1.0458973456026806
+            ],
+            "finger_b": [
+              0.21899928817115993,
+              0.18682098400648287,
+              1.0458973456026806
+            ],
+            "finger_midpoint": [
+              0.22504402000919904,
+              0.17464919233604584,
+              1.0458973456026806
+            ],
+            "object_minus_finger_midpoint": [
+              0.006044731838039108,
+              0.012171791670437027,
+              0.0
+            ],
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+            "closest_active_finger_minus_button": [
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+              0.015146911144256592,
+              0.03450143337249756
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+            "closest_contact_pad": [
+              0.17289216816425326,
+              -0.39153629664466444,
+              0.7901714648103397
+            ],
+            "closest_contact_pad_button": [
+              0.17289216816425326,
+              -0.38857954740524286,
+              0.7690744400024414
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029567492394215744,
+              0.021097024807898324
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2d51bc8cf3b1592b9f1cc0278dbe274b8afa66fc9a341e722e415a030fe5e84e",
+    "visual_seed": 5178749343436070509,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..553c9206f39ba01f495e5ae46ed895bd52c2fb34
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_97_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.18927688834231404,
+              1.0441611291933521
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+              0.1844043523812631,
+              1.0479493913827722
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+              0.0048725359610509444,
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+              0.1650410544356349,
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+              0.17715897138897446,
+              1.0441611291933521
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+              0.01211791695333958,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 214,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_shake_count": 5,
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+            "held_gripper_z_max_dist": 0.15,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3205044783190679,
+              -0.3329531071211481,
+              0.8470194829918807
+            ],
+            "target_position": [
+              0.31321413972258105,
+              -0.3349037908167051,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007546800893858142,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18615985385741696,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194829918807,
+            "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": 0.07515511170993804,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08754682986110239,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1554624413981959,
+            "release_required_pad_clearance": 0.0537734149305512,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.553430669977493,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007937967777252197,
+            "max_z_decrease": 0.007937967777252197,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514007133417128,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007937967777252197,
+            "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": 0.021150473453588114,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007937967777252197,
+            "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": 0.007937990254222909,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16891406476497647,
+              -0.3911652565002441,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16891406476497647,
+              -0.3911652565002441,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16833406663110484,
+              -0.38902991201399056,
+              0.8073027995801778
+            ],
+            "closest_button": [
+              0.16890290379524228,
+              -0.39116939902305603,
+              0.7722325325012207
+            ],
+            "closest_ee_minus_button": [
+              -0.0005688371641374423,
+              0.002139487009065466,
+              0.03507026707895711
+            ],
+            "button_min_z_position": [
+              0.16889555752277371,
+              -0.3911690413951874,
+              0.7688708901405334
+            ],
+            "min_active_finger_to_button": 0.14583120103712766,
+            "closest_active_finger": [
+              0.039987727999687195,
+              -0.4499276280403137,
+              0.8111274838447571
+            ],
+            "closest_active_finger_button": [
+              0.16891852021217346,
+              -0.39116719365119934,
+              0.7766194939613342
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12893079221248627,
+              -0.05876043438911438,
+              0.03450798988342285
+            ],
+            "min_contact_pad_to_button": 0.021150473453588114,
+            "closest_contact_pad": [
+              0.16889555752277371,
+              -0.3911690413951874,
+              0.7900213635941216
+            ],
+            "closest_contact_pad_button": [
+              0.16889555752277371,
+              -0.3911690413951874,
+              0.7688708901405334
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021150473453588114
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bd9925a8b4923c73876969f7aab3b217578f50e45070e61007494d9689028b2d",
+    "visual_seed": 5909754804384206235,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3552e98df2dd28d2d579978338e28511f7632c65
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_98_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23871821607003724,
+              0.1918964720027441,
+              1.0461664007452445
+            ],
+            "current_z": 1.0461664007452445,
+            "required_z": 0.8565866061957133,
+            "initial_z": 0.7565866061957133,
+            "lift_margin": 0.18957979454953122,
+            "gripper_z": 1.050192250103915,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23359290672367136,
+              0.1871508630962277,
+              1.050192250103915
+            ],
+            "object_minus_gripper": [
+              0.005125309346365875,
+              0.004745608906516402,
+              -0.0040258493586704525
+            ],
+            "object_to_gripper_xy": 0.006984955246066591,
+            "object_to_gripper_z": -0.0040258493586704525,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23871821607003724,
+              0.16720770668984736,
+              1.0461664007452445
+            ],
+            "finger_b": [
+              0.22731321173125735,
+              0.1918964720027441,
+              1.0461664007452445
+            ],
+            "finger_midpoint": [
+              0.2330157139006473,
+              0.17955208934629574,
+              1.0461664007452445
+            ],
+            "object_minus_finger_midpoint": [
+              0.005702502169389945,
+              0.012344382656448355,
+              0.0
+            ],
+            "finger_gap": 0.027195758063398072,
+            "fingertip_max_gap": 0.09417508765939242,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013597879031699024,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461664007452445,
+            "object_top_z": 1.0932601139431082,
+            "finger_top_clearance": 0.04709371319786371,
+            "fingertip_min_top_clearance": 0.01412811395935911,
+            "object_projection_between_fingers": 0.8241312925719722,
+            "object_to_finger_line_xy": 0.010353654230056901,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04958754382969621,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2501961613932366,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+    "strict_task_state": false,
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+    "seed_source": "workflow.reproducibility",
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+    "physical_randomization_enabled": true,
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+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..32cf691e7af6275cf1d85739630e59d90309622d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_99_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "elbow_joint",
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+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
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+                "fr3_joint5",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "table",
+                "wheel",
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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": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
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+          "metrics": {
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "wheel",
+                "workbench"
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "max_placed_release_frames": 152
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "held_object": "beaker_b",
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+                "beaker_b",
+                "heater_platform"
+              ],
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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",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
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+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007881581783294678,
+            "max_z_decrease": 0.007881581783294678,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035104238513307524,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007881581783294678,
+            "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": 0.021340689011397965,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007881581783294678,
+            "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": 0.00788160311810372,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17076003551483154,
+              -0.3932579159736633,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17076003551483154,
+              -0.3932579159736633,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17196040188296038,
+              -0.3946114054798706,
+              0.8074280919345664
+            ],
+            "closest_button": [
+              0.17074882984161377,
+              -0.39326128363609314,
+              0.7723707556724548
+            ],
+            "closest_ee_minus_button": [
+              0.0012115720413466147,
+              -0.0013501218437774742,
+              0.035057336262111605
+            ],
+            "button_min_z_position": [
+              0.17074202001094818,
+              -0.39326134324073786,
+              0.768927276134491
+            ],
+            "min_active_finger_to_button": 0.14490514346074604,
+            "closest_active_finger": [
+              0.031059935688972473,
+              -0.3765397369861603,
+              0.8076634407043457
+            ],
+            "closest_active_finger_button": [
+              0.17076827585697174,
+              -0.3932656645774841,
+              0.7730321884155273
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13970834016799927,
+              0.016725927591323797,
+              0.03463125228881836
+            ],
+            "min_contact_pad_to_button": 0.021340689011397965,
+            "closest_contact_pad": [
+              0.17074202001094818,
+              -0.3960255487526298,
+              0.7900881876311451
+            ],
+            "closest_contact_pad_button": [
+              0.17074202001094818,
+              -0.39326134324073786,
+              0.768927276134491
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027642055118919373,
+              0.02116091149665411
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 2714716839106178401,
+    "physical_seed": 5214361976758457865,
+    "layout_id": "layout_00022",
+    "step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "workflow_spec_digest": "6db4126063467db1b6f7152bf22c4a18e152b3d1bedaa30671d8b9a13fc58602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fbd6e682e970344e578fa9264229b7cc7e0bc3a4ad9a4b9c0d00c7dd8f028e53",
+    "visual_seed": 3784903948442402156,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6879855307333582930,
+      3555770340888182057,
+      838946150517897658,
+      4085215967028639945
+    ],
+    "runtime_workflow_digest": "24604ab3e6e2b9258159a25cb0277f31575768b0840c261f19c0f60650c3c5a5"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6db63025acfa0392eb437f92bb65b81fbfb6a41e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00022/results/episode_9_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2399626441362979,
+              0.18757735009460058,
+              1.0449340992490608
+            ],
+            "current_z": 1.0449340992490608,
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+            "lift_margin": 0.18834751758460033,
+            "gripper_z": 1.0489956631743083,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2348739415345633,
+              0.18262114540172553,
+              1.0489956631743083
+            ],
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+              0.005088702601734579,
+              0.004956204692875055,
+              -0.00406156392524748
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+            "object_to_gripper_xy": 0.007103439950233759,
+            "object_to_gripper_z": -0.00406156392524748,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2399626441362979,
+              0.1632656533382349,
+              1.0449340992490608
+            ],
+            "finger_b": [
+              0.22779618936829113,
+              0.18757735009460058,
+              1.0449340992490608
+            ],
+            "finger_midpoint": [
+              0.2338794167522945,
+              0.17542150171641774,
+              1.0449340992490608
+            ],
+            "object_minus_finger_midpoint": [
+              0.006083227384003381,
+              0.012155848378182843,
+              0.0
+            ],
+            "finger_gap": 0.027186048274720553,
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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": 1.0449340992490608,
+            "object_top_z": 1.0906453996846932,
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+            "object_projection_between_fingers": 0.7997207648401009,
+            "object_to_finger_line_xy": 0.010880108647304309,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04801307796534622,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4047192854788058,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2395639480237484,
+              0.18659561618145168,
+              1.2386828663142266
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+            "held_position": [
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+              0.19104757308182907,
+              1.2344893451499517
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008183030530637353,
+            "max_held_gripper_dist": 0.00818780802927189,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00419352116427496,
+            "max_held_gripper_z_dist": 0.004218547229637215,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08652527089885625,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.16569133040589068,
+              1.2344893451499517
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+              0.19104757308182907,
+              1.2344893451499517
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+              0.17836945174385987,
+              1.2344893451499517
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+            "held_grasp_object_position": [
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+              0.19104757308182907,
+              1.2344893451499517
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+            "held_grasp_finger_gap": 0.027242528708283347,
+            "held_grasp_max_gap": 0.12496567279100418,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024458994514612788,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.081131503174927,
+              -0.9964853464772927,
+              0.020847864365609366
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003944505612590328,
+            "held_grasp_line_xy_max_dist": 0.04748283639550209,
+            "held_grasp_object_top_z": 0.04520055279135704,
+            "held_grasp_top_clearance": 0.032162925780368654,
+            "held_grasp_min_top_clearance": 0.013560165837407111
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+}
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+  "published_failures": 0,
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+}
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4b9be8f91058940e3103cd548b7d60ed706a2773
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_hte_00023
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Shake the current contents of
+    beaker b once. Place beaker b on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00023
+  reproducibility:
+    enabled: true
+    layout_id: layout_00023
+    action_seed: 816907636393322120
+    step_seeds:
+    - 6025886195317364167
+    - 912408632159906142
+    - 5099940445753200938
+    - 3306769215366559685
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2917
+      - 0.2917
+      'y':
+      - -0.0432
+      - -0.0432
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2799
+      - 0.2799
+      'y':
+      - 0.157
+      - 0.157
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.353
+      - 0.353
+      'y':
+      - 0.3104
+      - 0.3104
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.25
+      - 0.25
+      'y':
+      - -0.3365
+      - -0.3365
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..246a14535d65c7fcc0200acefe0028f22f4924b9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_100_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30510050054361354,
+              0.16003180595868252,
+              1.0487780300732272
+            ],
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+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007933456374928339,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15475362539291385,
+              -0.39649224281311035,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15475362539291385,
+              -0.39649224281311035,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.153549117920413,
+              -0.3982560236519162,
+              0.8078579388842212
+            ],
+            "closest_button": [
+              0.15474294126033786,
+              -0.3964974284172058,
+              0.7727440595626831
+            ],
+            "closest_ee_minus_button": [
+              -0.0011938233399248488,
+              -0.0017585952347103917,
+              0.03511387932153809
+            ],
+            "button_min_z_position": [
+              0.15473662316799164,
+              -0.3964899480342865,
+              0.7688754200935364
+            ],
+            "min_active_finger_to_button": 0.14713711770195972,
+            "closest_active_finger": [
+              0.012180842459201813,
+              -0.38408833742141724,
+              0.8107505440711975
+            ],
+            "closest_active_finger_button": [
+              0.15475314855575562,
+              -0.3964951336383819,
+              0.7765666246414185
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1425723060965538,
+              0.012406796216964666,
+              0.03418391942977905
+            ],
+            "min_contact_pad_to_button": 0.02119758993109416,
+            "closest_contact_pad": [
+              0.15473662316799164,
+              -0.3992896925195603,
+              0.7898873036289076
+            ],
+            "closest_contact_pad_button": [
+              0.15473662316799164,
+              -0.3964899480342865,
+              0.7688754200935364
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002799744485273814,
+              0.0210118835353712
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb9565e99ed57b5d94ab3783ec3128ff3de955a53d43a149df210851772f214d",
+    "visual_seed": 2059624414582236359,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..35611243581ecbdca0cc353f907dfc75e1b1b9bb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_101_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3054970189609022,
+              0.1584834942366755,
+              1.0448022452008412
+            ],
+            "current_z": 1.0448022452008412,
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+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.18821573779227552,
+            "gripper_z": 1.047577690875396,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2998652007263588,
+              0.15337184012979904,
+              1.047577690875396
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+              0.005631818234543395,
+              0.005111654106876445,
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+            "object_to_gripper_xy": 0.0076056810566366975,
+            "object_to_gripper_z": -0.0027754456745547884,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3054970189609022,
+              0.13363108525503647,
+              1.0448022452008412
+            ],
+            "finger_b": [
+              0.29331114612371334,
+              0.1584834942366755,
+              1.0448022452008412
+            ],
+            "finger_midpoint": [
+              0.29940408254230777,
+              0.14605728974585597,
+              1.0448022452008412
+            ],
+            "object_minus_finger_midpoint": [
+              0.00609293641859443,
+              0.01242620449081952,
+              0.0
+            ],
+            "finger_gap": 0.02767919306979141,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010941370103689427,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04846431676661454,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5197595224564673,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.15634325836050683,
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+            "held_position": [
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+              0.16100875349397126,
+              1.235261222815156
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008096280022310208,
+            "max_held_gripper_dist": 0.008098681319692118,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029113044269333255,
+            "max_held_gripper_z_dist": 0.0029467153347721986,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08751050443995252,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.13533174562112418,
+              1.235261222815156
+            ],
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+              0.1481702495575477,
+              1.235261222815156
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+            "held_grasp_object_position": [
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+              0.16100875349397126,
+              1.235261222815156
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+            "held_grasp_finger_gap": 0.02767599416473977,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02519558137267217,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04400595382389714,
+              -0.998949784882736,
+              0.012759440065480576
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00459661964746821,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032147974161133956,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_used": false,
+        "attach_object": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
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+              -0.3343925269559695,
+              0.8470206261917063
+            ],
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+              0.8084375599031817
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+            "gripper_away_ok": true,
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+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00793677568435669,
+            "max_z_decrease": 0.00793677568435669,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035203419782775955,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00793677568435669,
+            "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": 0.02107919770265375,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00793677568435669,
+            "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": 0.007936797810128002,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15456366539001465,
+              -0.39391157031059265,
+              0.7768088579177856
+            ],
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+              0.15456366539001465,
+              -0.39391157031059265,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15657798654660487,
+              -0.3937870020500794,
+              0.8079205750770816
+            ],
+            "closest_button": [
+              0.15455263853073117,
+              -0.3939180076122284,
+              0.7727757096290588
+            ],
+            "closest_ee_minus_button": [
+              0.0020253480158737014,
+              0.00013100556214901138,
+              0.035144865448022755
+            ],
+            "button_min_z_position": [
+              0.15454497933387756,
+              -0.39391300082206726,
+              0.768872082233429
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+            "min_active_finger_to_button": 0.1442012400989529,
+            "closest_active_finger": [
+              0.015350840985774994,
+              -0.3782445192337036,
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+              0.1545642614364624,
+              -0.3939136266708374,
+              0.7766175270080566
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+            "closest_active_finger_minus_button": [
+              -0.1392134204506874,
+              0.01566910743713379,
+              0.03417748212814331
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+            "closest_contact_pad": [
+              0.15454497933387756,
+              -0.39485996864023987,
+              0.7899299982684717
+            ],
+            "closest_contact_pad_button": [
+              0.15454497933387756,
+              -0.39391300082206726,
+              0.768872082233429
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000946967818172606,
+              0.0210579160350427
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c44cf1c7dab1b2ce5ffdfa31672bc3aa167b475b8b2a0a9fed5439595ead4a30",
+    "visual_seed": 3514339464117444627,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ba604e13949391690dc9b621c3bab72d1cff265
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_102_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.1546414110634634,
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+            "gripper_z": 1.0492575295005733,
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+              0.3022268169102264,
+              0.14961280377243374,
+              1.0492575295005733
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+              0.005028607291029663,
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+            "object_to_gripper_z": -0.0031964975688709707,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.12963339309849076,
+              1.0460610319317023
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+            "finger_b": [
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+              0.1546414110634634,
+              1.0460610319317023
+            ],
+            "finger_midpoint": [
+              0.301935431506519,
+              0.14213740208097708,
+              1.0460610319317023
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+              0.005928076477363209,
+              0.012504008982486325,
+              0.0
+            ],
+            "finger_gap": 0.02767615084187583,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_top_z": 1.0921303126063995,
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+            "object_projection_between_fingers": 0.8164830389149373,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049256150377544175,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
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+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "905dcbd86fb3073f75560969f703c1b33bf0ca02c9a68a4dddb303fe3fef6e48",
+    "visual_seed": 6396834768676136817,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
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+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a42d722ac6a912bbe93b51b313039cbbce632cf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_104_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              0.16350281738170666,
+              1.045577907990768
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+              0.1385805342928995,
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+              0.15104167583730307,
+              1.045577907990768
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+              0.012461141544403587,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04925718172476261,
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+              0.0,
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+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                },
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.1621437709649011,
+              1.2392223997769634
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+              0.16690884559603378,
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+            "held_gripper_z_dist": 0.0030864571398177,
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+            "held_object_xy_range": 0.08722530630585727,
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+              0.1541047963287749,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1584794373055725,
+            "release_required_pad_clearance": 0.05339973298915894,
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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": 1.8143950407841252,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007835686206817627,
+            "max_z_decrease": 0.007835686206817627,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517837984086276,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007835686206817627,
+            "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": 0.02106806174398035,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007835686206817627,
+            "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": 0.007835706394503632,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15679822862148285,
+              -0.39274471998214716,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15679822862148285,
+              -0.39274471998214716,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1575603549262709,
+              -0.3913286719149036,
+              0.8079078188557157
+            ],
+            "closest_button": [
+              0.15678744018077848,
+              -0.3927526175975799,
+              0.7727667689323425
+            ],
+            "closest_ee_minus_button": [
+              0.0007729147454924312,
+              0.0014239456826762864,
+              0.03514104992337319
+            ],
+            "button_min_z_position": [
+              0.15678052604198453,
+              -0.39274644851684565,
+              0.768973171710968
+            ],
+            "min_active_finger_to_button": 0.14484077452681504,
+            "closest_active_finger": [
+              0.030159801244735718,
+              -0.45420539379119873,
+              0.8107224106788635
+            ],
+            "closest_active_finger_button": [
+              0.15679910778999323,
+              -0.39274695515632624,
+              0.7766020894050598
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1266393065452575,
+              -0.06145843863487249,
+              0.03412032127380371
+            ],
+            "min_contact_pad_to_button": 0.02106806174398035,
+            "closest_contact_pad": [
+              0.15678052604198453,
+              -0.39274644851684565,
+              0.7900412334549484
+            ],
+            "closest_contact_pad_button": [
+              0.15678052604198453,
+              -0.39274644851684565,
+              0.768973171710968
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02106806174398035
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "af97821b33718a55b1c6abd97f02361399aba1942766d1266529ff55887d0d8e",
+    "visual_seed": 8587541008046151037,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_105_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1e6743f6092dbfa4023c4daeee91dcf409a4641
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_105_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3050870508097489,
+              0.16593459990229445,
+              1.0485917593605072
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+            "current_z": 1.0485917593605072,
+            "required_z": 0.856586388199276,
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+            "lift_margin": 0.19200537116123118,
+            "gripper_z": 1.0507166562087196,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2998914058741319,
+              0.1609382434587464,
+              1.0507166562087196
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+              0.0051956449356170276,
+              0.004996356443548039,
+              -0.0021248968482123765
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+            "object_to_gripper_z": -0.0021248968482123765,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3050870508097489,
+              0.14153239135445017,
+              1.0485917593605072
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+              0.292892809524247,
+              0.16593459990229445,
+              1.0485917593605072
+            ],
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+              0.29898993016699793,
+              0.1537334956283723,
+              1.0485917593605072
+            ],
+            "object_minus_finger_midpoint": [
+              0.006097120642750975,
+              0.012201104273922153,
+              0.0
+            ],
+            "finger_gap": 0.027279430025965046,
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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": 0.8001799863804931,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048729682475285405,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8418482779861975,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30511395919290035,
+              0.16388909133232965,
+              1.2411918214189437
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+              0.1683819758433965,
+              1.2389293357325804
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007522106274506869,
+            "max_held_gripper_dist": 0.007523666273089132,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002262485686363336,
+            "max_held_gripper_z_dist": 0.002298404372815366,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08773602565163469,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31070656413998826,
+              0.14285467670836569,
+              1.2389293357325804
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+            "held_grasp_finger_b": [
+              0.3007801929805316,
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+              1.2389293357325804
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+            "held_grasp_midpoint": [
+              0.3057433785602599,
+              0.1556183262758811,
+              1.2389293357325804
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+            "held_grasp_object_position": [
+              0.31070656413998826,
+              0.1683819758433965,
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "fr3_rightfinger",
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+                "gripper",
+                "gripper_center",
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+                "joint2",
+                "joint3",
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+                "joint7",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
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+            },
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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": "shake",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3124989883705439,
+              -0.3336480942052019,
+              0.8470193268439506
+            ],
+            "target_position": [
+              0.3045514423597786,
+              -0.3361967472004314,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008346203908563688,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18708554359116833,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193268439506,
+            "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": 0.07545279897485298,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08556365103295537,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15565187248143858,
+            "release_required_pad_clearance": 0.052781825516477685,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6116558368424095,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007733285427093506,
+            "max_z_decrease": 0.007733285427093506,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514248380145482,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007733285427093506,
+            "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": 0.021185427851671587,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007733285427093506,
+            "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": 0.007733309339470513,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1602513641119003,
+              -0.3924582004547118,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1602513641119003,
+              -0.3924582004547118,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16066831075232937,
+              -0.39326326926376637,
+              0.8081218096620332
+            ],
+            "closest_button": [
+              0.1602467894554138,
+              -0.39246675372123707,
+              0.772990882396698
+            ],
+            "closest_ee_minus_button": [
+              0.0004215212969155835,
+              -0.0007965155425292969,
+              0.03513092726533518
+            ],
+            "button_min_z_position": [
+              0.16023221611976624,
+              -0.39245998859405506,
+              0.7690755724906921
+            ],
+            "min_active_finger_to_button": 0.14568443956567947,
+            "closest_active_finger": [
+              0.019639208912849426,
+              -0.3758189380168915,
+              0.8105724453926086
+            ],
+            "closest_active_finger_button": [
+              0.16025367379188538,
+              -0.3924610912799834,
+              0.7763004899024963
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14061446487903595,
+              0.01664215326309193,
+              0.034271955490112305
+            ],
+            "min_contact_pad_to_button": 0.021185427851671587,
+            "closest_contact_pad": [
+              0.16023221611976624,
+              -0.39460105291730124,
+              0.7901525313989907
+            ],
+            "closest_contact_pad_button": [
+              0.16023221611976624,
+              -0.39245998859405506,
+              0.7690755724906921
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002141064323246178,
+              0.021076958908298526
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d7e22aec7b118a339622c02ecbb03a6d638a6da3419dcae47949c506a0f2ac1c",
+    "visual_seed": 8270362746230388685,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcb49f1024dd1484016acfe21f45fa35e411a7e5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_106_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30600660002408275,
+              0.16154122504541013,
+              1.045757997559471
+            ],
+            "current_z": 1.045757997559471,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.18917149015090573,
+            "gripper_z": 1.047917366852472,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3008905201498565,
+              0.15657668278122328,
+              1.047917366852472
+            ],
+            "object_minus_gripper": [
+              0.0051160798742262426,
+              0.004964542264186855,
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+            ],
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+              0.0019111174832389943,
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+              0.035140330374820894
+            ],
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+              0.155095562338829,
+              -0.3919998705387115,
+              0.7689030170440674
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+            "closest_active_finger": [
+              0.01563248038291931,
+              -0.37853944301605225,
+              0.8108421564102173
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+            "closest_active_finger_button": [
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+              -0.3920006155967712,
+              0.7766578793525696
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13948455452919004,
+              0.013461172580718939,
+              0.034184277057647705
+            ],
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+            "closest_contact_pad": [
+              0.155095562338829,
+              -0.393497030548568,
+              0.7899539570872006
+            ],
+            "closest_contact_pad_button": [
+              0.155095562338829,
+              -0.3919998705387115,
+              0.7689030170440674
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014971600098565019,
+              0.021050940043133237
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7a55756c7955005e421bac08567b42f893680ac76755fe437299d939aa8d3b5c",
+    "visual_seed": 5668754760781757192,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_107_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f537e702b9cd108b0166193101f4c628fe19e053
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_107_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.1583402804815166,
+              1.0491265998395554
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+            "lift_margin": 0.19254003282634502,
+            "gripper_z": 1.0512601606605836,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3042649206677007,
+              0.15354017257121172,
+              1.0512601606605836
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+              0.004874589704180254,
+              0.004800107910304885,
+              -0.002133560821028224
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+            "object_to_gripper_z": -0.002133560821028224,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.309139510371881,
+              0.13414180639166026,
+              1.0491265998395554
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+              1.0491265998395554
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+              0.30319624076827767,
+              0.14624104343658845,
+              1.0491265998395554
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+              0.012099237044928157,
+              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_projection_between_fingers": 0.8056151127677493,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050509288979520714,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.15665148963617076,
+              1.2400235567167557
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
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+            "held_gripper_dist": 0.007164721336042364,
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+            "held_gripper_z_dist": 0.0022779458039872136,
+            "max_held_gripper_z_dist": 0.0023080664971399933,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08677056474001688,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.13563071303600424,
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+              0.14830830340306353,
+              1.2377456109127685
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+            "held_grasp_object_position": [
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+              0.16098589377012282,
+              1.2377456109127685
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+            "held_grasp_finger_gap": 0.027098500216386084,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024566525037728715,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9963144576658887,
+              0.04552049631242516
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038912053113781715,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "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"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3034589635613701,
+              -0.33384471508031854,
+              0.8470192314749203
+            ],
+            "target_position": [
+              0.29830749089355046,
+              -0.33461792731845413,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0052091772682924965,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18620498140991745,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192314749203,
+            "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": 0.07516016634606812,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08516602167248137,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1553184550664016,
+            "release_required_pad_clearance": 0.05258301083624069,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2306997672659567,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007579803466796875,
+            "max_z_decrease": 0.007579803466796875,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035145976496387434,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007579803466796875,
+            "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": 0.021134093915942488,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007579803466796875,
+            "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": 0.00757983010642203,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1540074199438095,
+              -0.3908793926239013,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1540074199438095,
+              -0.3908793926239013,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15379533320841227,
+              -0.39153048486907305,
+              0.8081564378864015
+            ],
+            "closest_button": [
+              0.15399686992168427,
+              -0.390887051820755,
+              0.7730169296264648
+            ],
+            "closest_ee_minus_button": [
+              -0.00020153671327199918,
+              -0.0006434330483180428,
+              0.035139508259936614
+            ],
+            "button_min_z_position": [
+              0.1539873480796814,
+              -0.39088037610054016,
+              0.7692290544509888
+            ],
+            "min_active_finger_to_button": 0.14627020492829867,
+            "closest_active_finger": [
+              0.012712396681308746,
+              -0.3746798038482666,
+              0.8104633092880249
+            ],
+            "closest_active_finger_button": [
+              0.15400780737400055,
+              -0.3908817768096924,
+              0.7762861847877502
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1412954106926918,
+              0.01620197296142578,
+              0.03417712450027466
+            ],
+            "min_contact_pad_to_button": 0.021134093915942488,
+            "closest_contact_pad": [
+              0.1539873480796814,
+              -0.392792660920251,
+              0.7902764555355926
+            ],
+            "closest_contact_pad_button": [
+              0.1539873480796814,
+              -0.39088037610054016,
+              0.7692290544509888
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001912284819710841,
+              0.02104740108460379
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3fe1c111cca7eec33dc6ad19ee1c6a27fa202c78e850fe68a3c0df7e12a54cb1",
+    "visual_seed": 6902844518689229900,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_108_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e6f034b9e7bef3f6087920d84af077d0be0e9d8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_108_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3040894069246278,
+              0.15883891961801527,
+              1.0458529884723893
+            ],
+            "current_z": 1.0458529884723893,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18926654066846849,
+            "gripper_z": 1.04827715972131,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29871296929120505,
+              0.1538124528317243,
+              1.04827715972131
+            ],
+            "object_minus_gripper": [
+              0.00537643763342277,
+              0.005026466786290984,
+              -0.0024241712489208034
+            ],
+            "object_to_gripper_xy": 0.007360125676900568,
+            "object_to_gripper_z": -0.0024241712489208034,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3040894069246278,
+              0.13423921296297261,
+              1.0458529884723893
+            ],
+            "finger_b": [
+              0.2919364835573112,
+              0.15883891961801527,
+              1.0458529884723893
+            ],
+            "finger_midpoint": [
+              0.29801294524096955,
+              0.14653906629049396,
+              1.0458529884723893
+            ],
+            "object_minus_finger_midpoint": [
+              0.006076461683658274,
+              0.012299853327521315,
+              0.0
+            ],
+            "finger_gap": 0.027437913803458527,
+            "fingertip_max_gap": 0.09423899580549636,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013718956901729239,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0458529884723893,
+            "object_top_z": 1.092903530247604,
+            "finger_top_clearance": 0.04705054177521473,
+            "fingertip_min_top_clearance": 0.014115162532564401,
+            "object_projection_between_fingers": 0.8038179158764712,
+            "object_to_finger_line_xy": 0.010895811976766189,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04961949790274818,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.387875107029134,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
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+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a666d7f625ef767fddcdea92f23cc0fd57fdef936cbbb4d3da0cebd522b11474",
+    "visual_seed": 2210968005216978130,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      912408632159906142,
+      5099940445753200938,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_109_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e752965302c599eafdc6d967d421b48fdc28cb74
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_109_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.159580473730636,
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+            "stable_success_frames": 219,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
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+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 0.9117086629303989,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
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+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00782090425491333,
+            "max_z_decrease": 0.00782090425491333,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515295851237704,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00782090425491333,
+            "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": 0.02109386253775321,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00782090425491333,
+            "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": 0.007820923928661867,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15936714410781863,
+              -0.3890627920627594,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15936714410781863,
+              -0.3890627920627594,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15997729522014872,
+              -0.38784757953323556,
+              0.8079120716335015
+            ],
+            "closest_button": [
+              0.1593582630157471,
+              -0.38907212018966675,
+              0.7727859020233154
+            ],
+            "closest_ee_minus_button": [
+              0.0006190322044016261,
+              0.0012245406564311834,
+              0.03512616961018611
+            ],
+            "button_min_z_position": [
+              0.15934988856315613,
+              -0.3890659511089325,
+              0.7689879536628723
+            ],
+            "min_active_finger_to_button": 0.14509333362826407,
+            "closest_active_finger": [
+              0.03185249865055084,
+              -0.4492441713809967,
+              0.810842752456665
+            ],
+            "closest_active_finger_button": [
+              0.1593691855669022,
+              -0.38906553387641907,
+              0.776636004447937
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12751668691635135,
+              -0.06017863750457764,
+              0.03420674800872803
+            ],
+            "min_contact_pad_to_button": 0.02109386253775321,
+            "closest_contact_pad": [
+              0.15934988856315613,
+              -0.3892199854807612,
+              0.7900812537881235
+            ],
+            "closest_contact_pad_button": [
+              0.15934988856315613,
+              -0.3890659511089325,
+              0.7689879536628723
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00015403437182870405,
+              0.021093300125251235
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 109,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e029f84bd3ecd7c8b0d2911a474faf2eb64c28312f15473a33bd025e50ba272b",
+    "visual_seed": 4435514484865873902,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..303c0bfcf0cf90ec5adb466f59183fa332c78606
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_10_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3071574587027983,
+              0.16015586689586,
+              1.0447188674618293
+            ],
+            "current_z": 1.0447188674618293,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18813236005326373,
+            "gripper_z": 1.0476480847708123,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30152532129452636,
+              0.1550048674534377,
+              1.0476480847708123
+            ],
+            "object_minus_gripper": [
+              0.005632137408271953,
+              0.0051509994424223104,
+              -0.00292921730898299
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+            "object_to_gripper_xy": 0.007632415544340551,
+            "object_to_gripper_z": -0.00292921730898299,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3071574587027983,
+              0.13525491150282348,
+              1.0447188674618293
+            ],
+            "finger_b": [
+              0.2949851676066768,
+              0.16015586689586,
+              1.0447188674618293
+            ],
+            "finger_midpoint": [
+              0.30107131315473756,
+              0.14770538919934173,
+              1.0447188674618293
+            ],
+            "object_minus_finger_midpoint": [
+              0.006086145548060751,
+              0.012450477696518275,
+              0.0
+            ],
+            "finger_gap": 0.027716822509348243,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013858411254674134,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0447188674618293,
+            "object_top_z": 1.0902653397685853,
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+            "object_projection_between_fingers": 0.8071330652999429,
+            "object_to_finger_line_xy": 0.010935657487915421,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04883900050686836,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7412255564517174,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3065515994876382,
+              0.15812565669286202,
+              1.237688502992773
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+            "held_position": [
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+              0.1628397275705641,
+              1.2346210856322124
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008176309790151904,
+            "max_held_gripper_dist": 0.008177090537847395,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003067417360560709,
+            "max_held_gripper_z_dist": 0.0031075172678711738,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08747831836980954,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31248628804565587,
+              0.1371332003874846,
+              1.2346210856322124
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+              0.30213962765836005,
+              0.1628397275705641,
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+            "held_grasp_midpoint": [
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+              0.14998646397902438,
+              1.2346210856322124
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+            "held_grasp_object_position": [
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+              0.1628397275705641,
+              1.2346210856322124
+            ],
+            "held_grasp_finger_gap": 0.027710628303675138,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025287504492920932,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03847154246242843,
+              -0.999184226419421,
+              0.012280964749769696
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+                "Robotiq2F85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint4",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "workbench"
+              ],
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+            },
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+            "forbidden": [],
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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": {
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+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3076098461422073,
+              -0.33265852836916054,
+              0.8470194983893601
+            ],
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+              0.3002704423802067,
+              -0.3354582063553318,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007855255846114781,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18804667292758853,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194983893601,
+            "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": 0.07550358284090945,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0874020260871609,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15668704007411724,
+            "release_required_pad_clearance": 0.05370101304358045,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.411218893949721,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007876038551330566,
+            "max_z_decrease": 0.007876038551330566,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351655020785178,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007876038551330566,
+            "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": 0.02113794374617009,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007876038551330566,
+            "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": 0.007876062410724674,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15597036480903625,
+              -0.3917196691036224,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15597036480903625,
+              -0.3917196691036224,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15702473122794952,
+              -0.3925339219461652,
+              0.8079584196048158
+            ],
+            "closest_button": [
+              0.1559592932462692,
+              -0.3917269110679626,
+              0.7728183269500732
+            ],
+            "closest_ee_minus_button": [
+              0.0010654379816803228,
+              -0.0008070108782026186,
+              0.035140092654742605
+            ],
+            "button_min_z_position": [
+              0.1559510380029678,
+              -0.39172118902206415,
+              0.7689328193664551
+            ],
+            "min_active_finger_to_button": 0.1450300577168248,
+            "closest_active_finger": [
+              0.015798643231391907,
+              -0.3769885003566742,
+              0.8108412027359009
+            ],
+            "closest_active_finger_button": [
+              0.1559718698263168,
+              -0.3917215764522552,
+              0.7766634225845337
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1401732265949249,
+              0.014733076095581,
+              0.03417778015136719
+            ],
+            "min_contact_pad_to_button": 0.02113794374617009,
+            "closest_contact_pad": [
+              0.1559510380029678,
+              -0.39361144075679827,
+              0.7899860759837954
+            ],
+            "closest_contact_pad_button": [
+              0.1559510380029678,
+              -0.39172118902206415,
+              0.7689328193664551
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018902517347341163,
+              0.021053256617340366
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cfcf7719f87e29bf5c32165e8cc65ed0ec0da4a303674abd504d7d00fbcd8b62",
+    "visual_seed": 4171183919472657061,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_110_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..895da357146027f2e360ea730411364d6e1aaa86
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_110_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30314220459921487,
+              0.15746171346852855,
+              1.046985723260242
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+            "current_z": 1.046985723260242,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1903992158516764,
+            "gripper_z": 1.0493757982294618,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29791734985771257,
+              0.15242854294221608,
+              1.0493757982294618
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+              0.005224854741502305,
+              0.005033170526312469,
+              -0.0023900749692198353
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+            "object_to_gripper_xy": 0.00725478549763807,
+            "object_to_gripper_z": -0.0023900749692198353,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30314220459921487,
+              0.1330663588768692,
+              1.046985723260242
+            ],
+            "finger_b": [
+              0.29085992730041926,
+              0.15746171346852855,
+              1.046985723260242
+            ],
+            "finger_midpoint": [
+              0.29700106594981707,
+              0.1452640361726989,
+              1.046985723260242
+            ],
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+            "closest_contact_pad": [
+              0.15536859631538386,
+              -0.39269820214271967,
+              0.790204809238125
+            ],
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+              -0.39119577407836903,
+              0.769184410572052
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001502428064350636,
+              0.02102039866607297
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 110,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db8dfa77b950be6e418206d2c294da8c4920f82664782ba040452fa93e71b0f7",
+    "visual_seed": 4310312916327610437,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_112_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..357b340490cefe9e36113dd768a36644d5c6b5e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_112_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 112,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.15829169895010625,
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+              0.004856258498945942,
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+              0.14597813343335814,
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.310565830347374,
+              -0.33839424207660307,
+              0.8470195355873904
+            ],
+            "target_position": [
+              0.30346648085797434,
+              -0.3405624205392933,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007423056043080444,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18689607577770997,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195355873904,
+            "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": 0.07556697371247866,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08524795888364477,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15507562852103285,
+            "release_required_pad_clearance": 0.052623979441822386,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.30901012142088097,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007841229438781738,
+            "max_z_decrease": 0.007841229438781738,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514173527867412,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007841229438781738,
+            "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": 0.021165687091440632,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007841229438781738,
+            "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": 0.00784125166245412,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15916641056537623,
+              -0.3968238830566406,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15916641056537623,
+              -0.3968238830566406,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15890136721669137,
+              -0.3975989398449979,
+              0.8080650477665478
+            ],
+            "closest_button": [
+              0.15916040539741516,
+              -0.3968314826488495,
+              0.7729326486587524
+            ],
+            "closest_ee_minus_button": [
+              -0.00025903818072378626,
+              -0.0007674571961484022,
+              0.03513239910779531
+            ],
+            "button_min_z_position": [
+              0.15914779901504514,
+              -0.3968253433704376,
+              0.7689676284790039
+            ],
+            "min_active_finger_to_button": 0.1463339392446514,
+            "closest_active_finger": [
+              0.017908789217472076,
+              -0.3799023926258087,
+              0.8104804158210754
+            ],
+            "closest_active_finger_button": [
+              0.15916858613491056,
+              -0.39682644605636597,
+              0.7762332558631897
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14125979691743848,
+              0.01692405343055725,
+              0.03424715995788574
+            ],
+            "min_contact_pad_to_button": 0.021165687091440632,
+            "closest_contact_pad": [
+              0.15914779901504514,
+              -0.3989403137426625,
+              0.7900273818103558
+            ],
+            "closest_contact_pad_button": [
+              0.15914779901504514,
+              -0.3968253433704376,
+              0.7689676284790039
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002114970372224856,
+              0.021059753331351905
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 112,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7b5c3e6e2ed49b0da38becab893945f6638ce040a6b5bea462047cf80938ed05",
+    "visual_seed": 8580275132027268857,
+    "episode_index": 112,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_113_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_113_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..86f97ca66f671555a758ece5c99124d70f4baa17
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_113_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 113,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3018352374405277,
+              0.16549420250381913,
+              1.0462907959656915
+            ],
+            "current_z": 1.0462907959656915,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18970428855712596,
+            "gripper_z": 1.048561519202542,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2967609619018543,
+              0.16057804471326476,
+              1.048561519202542
+            ],
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+              0.005074275538673401,
+              0.004916157790554376,
+              -0.0022707232368504027
+            ],
+            "object_to_gripper_xy": 0.00706518787181259,
+            "object_to_gripper_z": -0.0022707232368504027,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3018352374405277,
+              0.1411643784720858,
+              1.0462907959656915
+            ],
+            "finger_b": [
+              0.2897644697984851,
+              0.16549420250381913,
+              1.0462907959656915
+            ],
+            "finger_midpoint": [
+              0.2957998536195064,
+              0.15332929048795246,
+              1.0462907959656915
+            ],
+            "object_minus_finger_midpoint": [
+              0.006035383821021312,
+              0.012164912015866669,
+              0.0
+            ],
+            "finger_gap": 0.027159598098707063,
+            "fingertip_max_gap": 0.09283064239731201,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013579799049353532,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0462907959656915,
+            "object_top_z": 1.0928363598462374,
+            "finger_top_clearance": 0.04654556388054587,
+            "fingertip_min_top_clearance": 0.013963669164163745,
+            "object_projection_between_fingers": 0.8024745309124466,
+            "object_to_finger_line_xy": 0.010813107454370575,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048915321198656006,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9756652270845705,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
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+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4b46fe85affade7199e7bc70f5fe0a000d70d5698d47560304bb35c88c16b46d",
+    "visual_seed": 2332091802319011269,
+    "episode_index": 113,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      912408632159906142,
+      5099940445753200938,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_114_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..286a1402217d1fa24d62377c40aed9089c38c042
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_114_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 114,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.15929128095965123,
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+              0.13492185721102723,
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+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+            "release_required_pad_clearance": 0.052702633014034786,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 0.45970036492515803,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008036911487579346,
+            "max_z_decrease": 0.008036911487579346,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521037632575427,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008036911487579346,
+            "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": 0.021125461974567043,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008036911487579346,
+            "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": 0.008036924114716857,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16109755635261536,
+              -0.39557555317878723,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16109755635261536,
+              -0.39557555317878723,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16324089852128082,
+              -0.3962827816559361,
+              0.8079745354342778
+            ],
+            "closest_button": [
+              0.16108699142932892,
+              -0.3955842852592468,
+              0.7728370428085327
+            ],
+            "closest_ee_minus_button": [
+              0.002153907091951901,
+              -0.0006984963966892854,
+              0.03513749262574506
+            ],
+            "button_min_z_position": [
+              0.161083310842514,
+              -0.3955753743648529,
+              0.7687719464302063
+            ],
+            "min_active_finger_to_button": 0.14400707607886667,
+            "closest_active_finger": [
+              0.02195107191801071,
+              -0.3812587857246399,
+              0.8109453916549683
+            ],
+            "closest_active_finger_button": [
+              0.16110223531723022,
+              -0.3955763280391693,
+              0.7767401337623596
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1391511633992195,
+              0.014317542314529419,
+              0.03420525789260864
+            ],
+            "min_contact_pad_to_button": 0.021125461974567043,
+            "closest_contact_pad": [
+              0.161083310842514,
+              -0.39731202427276324,
+              0.7898259054578152
+            ],
+            "closest_contact_pad_button": [
+              0.161083310842514,
+              -0.3955753743648529,
+              0.7687719464302063
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001736649907910337,
+              0.02105395902760887
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 114,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96302b0f13f04c983ed881bbe572459344caa04957747c40a25d7c557747ccab",
+    "visual_seed": 2943502835447001604,
+    "episode_index": 114,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_115_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_115_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea3470968162c91a1453832f385920feb2502cbc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_115_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 115,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3011883908867041,
+              0.15732547369696978,
+              1.0451211514289378
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+            "current_z": 1.0451211514289378,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18853464402037223,
+            "gripper_z": 1.0483625793796452,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29553591665056134,
+              0.1522542789524562,
+              1.0483625793796452
+            ],
+            "object_minus_gripper": [
+              0.00565247423614279,
+              0.005071194744513591,
+              -0.003241427950707365
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+            "object_to_gripper_xy": 0.007593910792670683,
+            "object_to_gripper_z": -0.003241427950707365,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3011883908867041,
+              0.13242693980613307,
+              1.0451211514289378
+            ],
+            "finger_b": [
+              0.2891177268584609,
+              0.15732547369696978,
+              1.0451211514289378
+            ],
+            "finger_midpoint": [
+              0.2951530588725825,
+              0.14487620675155144,
+              1.0451211514289378
+            ],
+            "object_minus_finger_midpoint": [
+              0.006035332014121653,
+              0.012449266945418341,
+              0.0
+            ],
+            "finger_gap": 0.027670162991855863,
+            "fingertip_max_gap": 0.09443555835238152,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013835081495927931,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.091446009066797,
+            "finger_top_clearance": 0.04632485763785921,
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+            "object_projection_between_fingers": 0.8096999557133853,
+            "object_to_finger_line_xy": 0.010861585364732994,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04971777917619076,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1647536325753047,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3000457281396358,
+              0.15634176555223267,
+              1.2389691336728417
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+            "held_position": [
+              0.30590485569061776,
+              0.1610958594694117,
+              1.2356142588949488
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008257479603812304,
+            "max_held_gripper_dist": 0.008259285231220137,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003354874777892869,
+            "max_held_gripper_z_dist": 0.0033911520777498705,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0870958550468296,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30590485569061776,
+              0.13562481352185235,
+              1.2356142588949488
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+              0.2951691047993821,
+              0.1610958594694117,
+              1.2356142588949488
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+            "held_grasp_midpoint": [
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+              0.14836033649563202,
+              1.2356142588949488
+            ],
+            "held_grasp_object_position": [
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+              0.1610958594694117,
+              1.2356142588949488
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+            "held_grasp_finger_gap": 0.027641102164373765,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025326081132563016,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01284258456109134,
+              -0.999721643690509,
+              0.01979149207458475
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00521000943293576,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03239930961088176,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+                "beaker_b"
+              ],
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+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "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",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3118271406573813,
+              -0.3301094698715801,
+              0.8470194231473611
+            ],
+            "target_position": [
+              0.30510379278491556,
+              -0.332553822828405,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007153898796581387,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18505985937563538,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194231473611,
+            "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": 0.07528938932122342,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08683631721188377,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1543159904932051,
+            "release_required_pad_clearance": 0.05341815860594189,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8507001332278257,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007881641387939453,
+            "max_z_decrease": 0.007881641387939453,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035138848330595676,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007881641387939453,
+            "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": 0.02107305516906036,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007881641387939453,
+            "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": 0.007881663095081358,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1608037203550339,
+              -0.38881528377532953,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1608037203550339,
+              -0.38881528377532953,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16084812621324582,
+              -0.38852864844199286,
+              0.8079327765839348
+            ],
+            "closest_button": [
+              0.16079320013523107,
+              -0.38882255554199213,
+              0.7727952003479004
+            ],
+            "closest_ee_minus_button": [
+              5.492607801474425e-05,
+              0.0002939070999992688,
+              0.03513757623603442
+            ],
+            "button_min_z_position": [
+              0.1607853472232819,
+              -0.3888174295425414,
+              0.7689272165298462
+            ],
+            "min_active_finger_to_button": 0.14594331576816652,
+            "closest_active_finger": [
+              0.033935606479644775,
+              -0.4523719549179077,
+              0.8107631206512451
+            ],
+            "closest_active_finger_button": [
+              0.16080479323863986,
+              -0.38881722092628473,
+              0.7766389846801758
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12686918675899508,
+              -0.06355473399162298,
+              0.034124135971069336
+            ],
+            "min_contact_pad_to_button": 0.02107305516906036,
+            "closest_contact_pad": [
+              0.1607853472232819,
+              -0.3895946455336436,
+              0.7899859341893201
+            ],
+            "closest_contact_pad_button": [
+              0.1607853472232819,
+              -0.3888174295425414,
+              0.7689272165298462
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007772159911021981,
+              0.02105871765947387
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 115,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9709067bc4fba8a178cf84175c0a78c66411717a788229096129750166963059",
+    "visual_seed": 7282191039627472660,
+    "episode_index": 115,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_116_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_116_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc0a0a44ffc3139ba57624b334c51a26b2557417
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_116_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 116,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.16359767122342722,
+              1.0486091506794757
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+            "current_z": 1.0486091506794757,
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+            "lift_margin": 0.19202276248019967,
+            "gripper_z": 1.0509374397674527,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29555388245294945,
+              0.15871061839138462,
+              1.0509374397674527
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+              0.005096196059474201,
+              0.004887052832042604,
+              -0.002328289087976998
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+            "object_to_gripper_xy": 0.007060771888382743,
+            "object_to_gripper_z": -0.002328289087976998,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30065007851242365,
+              0.13918769902495703,
+              1.0486091506794757
+            ],
+            "finger_b": [
+              0.28870248866822024,
+              0.16359767122342722,
+              1.0486091506794757
+            ],
+            "finger_midpoint": [
+              0.29467628359032194,
+              0.15139268512419213,
+              1.0486091506794757
+            ],
+            "object_minus_finger_midpoint": [
+              0.005973794922101705,
+              0.012204986099235093,
+              0.0
+            ],
+            "finger_gap": 0.027177042624527782,
+            "fingertip_max_gap": 0.09201839769001527,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013588521312263891,
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+            "finger_midpoint_minus_object_z": 0.0,
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+              -0.3902662098407745,
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+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028756876057853265,
+              0.02105199597469587
+            ]
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 116,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0dcf1b04632667600f1d3fb958841c4fb8d0268b30a66094348ebf0ff104f464",
+    "visual_seed": 103032098925129628,
+    "episode_index": 116,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_117_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_117_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..629c64acf15fc0d98035a7fc70a6ad0bc220e5e9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_117_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 117,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 219,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
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+          "passed": true,
+          "metrics": {
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+              -0.3398944769419512,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007052913570611835,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18396434940186174,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196329060541,
+            "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": 0.07563851489007023,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08524545172052149,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15217182128938023,
+            "release_required_pad_clearance": 0.05262272586026075,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3064667372773182,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007823288440704346,
+            "max_z_decrease": 0.007823288440704346,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351684389299978,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007823288440704346,
+            "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": 0.02106777672294964,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007823288440704346,
+            "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": 0.0078233120467616,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1583893746137619,
+              -0.3961559236049652,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1583893746137619,
+              -0.3961559236049652,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15967397901580305,
+              -0.39579980645878565,
+              0.8081310161391837
+            ],
+            "closest_button": [
+              0.1583785116672516,
+              -0.39616274833679194,
+              0.7729883193969727
+            ],
+            "closest_ee_minus_button": [
+              0.00129546734855146,
+              0.0003629418780062843,
+              0.035142696742211044
+            ],
+            "button_min_z_position": [
+              0.15837019681930545,
+              -0.3961571753025055,
+              0.7689855694770813
+            ],
+            "min_active_finger_to_button": 0.14484371446017333,
+            "closest_active_finger": [
+              0.03272778540849686,
+              -0.459600567817688,
+              0.8104039430618286
+            ],
+            "closest_active_finger_button": [
+              0.1583893597126007,
+              -0.3961580693721771,
+              0.7762876749038696
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12566157430410385,
+              -0.06344249844551086,
+              0.034116268157958984
+            ],
+            "min_contact_pad_to_button": 0.02106777672294964,
+            "closest_contact_pad": [
+              0.15837019681930545,
+              -0.3968507779761846,
+              0.7900419255573513
+            ],
+            "closest_contact_pad_button": [
+              0.15837019681930545,
+              -0.3961571753025055,
+              0.7689855694770813
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006936026736791279,
+              0.02105635608027001
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 117,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "175caf22450f9723bf2d126009d49ac1371df21923d12a03d387b36ab2d6af81",
+    "visual_seed": 2673450257462512700,
+    "episode_index": 117,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_118_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_118_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb95ab9b9df6a52b9b837ee9607d999f0e6a3297
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_118_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 118,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30756561681818145,
+              0.1574738493978564,
+              1.0471043475123498
+            ],
+            "current_z": 1.0471043475123498,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19051789970842903,
+            "gripper_z": 1.0492248283350984,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3025821217874376,
+              0.15260316414415598,
+              1.0492248283350984
+            ],
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+              0.004983495030743856,
+              0.004870685253700435,
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+            "object_to_gripper_xy": 0.006968414278877483,
+            "object_to_gripper_z": -0.002120480822748627,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30756561681818145,
+              0.13320119740059103,
+              1.0471043475123498
+            ],
+            "finger_b": [
+              0.2955771470266612,
+              0.1574738493978564,
+              1.0471043475123498
+            ],
+            "finger_midpoint": [
+              0.30157138192242133,
+              0.14533752339922373,
+              1.0471043475123498
+            ],
+            "object_minus_finger_midpoint": [
+              0.00599423489576012,
+              0.01213632599863268,
+              0.0
+            ],
+            "finger_gap": 0.027071849639848117,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013535924819924047,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471043475123498,
+            "object_top_z": 1.0940900458021896,
+            "finger_top_clearance": 0.046985698289839783,
+            "fingertip_min_top_clearance": 0.014095709486951968,
+            "object_projection_between_fingers": 0.8038936538136136,
+            "object_to_finger_line_xy": 0.010748876013295288,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04944869101526912,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3268423408872183,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2ba9c0332d3afcb1add88f8be8a7a6b9239a1721cc214918182053ca0a79ef75",
+    "visual_seed": 4258589143542230069,
+    "episode_index": 118,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fa2c39fee603059f87af745e89a249f4aa50d69
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_11_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.004862194914858786,
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+              0.1399170978411736,
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+              0.15211788188900377,
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+              0.012200784047830149,
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+            "stable_success_frames": 222,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.1623063305861896,
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+              0.16672229062781796,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
+            },
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 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",
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+                "wheel",
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007611274719238281,
+            "max_z_decrease": 0.007611274719238281,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035193840817280324,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007611274719238281,
+            "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": 0.021011031744370787,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007611274719238281,
+            "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": 0.007611297014468265,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1544235795736313,
+              -0.394400805234909,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1544235795736313,
+              -0.394400805234909,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15295591156368676,
+              -0.39324178618936156,
+              0.8073031312694481
+            ],
+            "closest_button": [
+              0.1544111967086792,
+              -0.3943991661071777,
+              0.7721584439277649
+            ],
+            "closest_ee_minus_button": [
+              -0.0014552851449924353,
+              0.0011573799178161148,
+              0.03514468734168319
+            ],
+            "button_min_z_position": [
+              0.1544051617383957,
+              -0.39440122246742243,
+              0.7691975831985474
+            ],
+            "min_active_finger_to_button": 0.14680361833369718,
+            "closest_active_finger": [
+              0.02555093914270401,
+              -0.45588162541389465,
+              0.8103430867195129
+            ],
+            "closest_active_finger_button": [
+              0.1544240117073059,
+              -0.3944031596183777,
+              0.776233971118927
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1288730725646019,
+              -0.06147846579551697,
+              0.03410911560058594
+            ],
+            "min_contact_pad_to_button": 0.021011031744370787,
+            "closest_contact_pad": [
+              0.1544051617383957,
+              -0.39447110792158274,
+              0.7902084987184921
+            ],
+            "closest_contact_pad_button": [
+              0.1544051617383957,
+              -0.39440122246742243,
+              0.7691975831985474
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -6.988545416031222e-05,
+              0.021010915519944717
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3d247339b9bf82a5e0fe7bdc9ec24d9f3616545b34607ada4c31195b5fc54f78",
+    "visual_seed": 6248043639157394075,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_120_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_120_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..38252f0d876acd3b0f137780aab03e137f15dedc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_120_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 120,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.30880527242887407,
+              0.16355945260098656,
+              1.0461368221065042
+            ],
+            "current_z": 1.0461368221065042,
+            "required_z": 0.8565865074085656,
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+            "lift_margin": 0.1895503146979386,
+            "gripper_z": 1.049052003976168,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30317644012232614,
+              0.15844845662658477,
+              1.049052003976168
+            ],
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+              0.005628832306547926,
+              0.0051109959744017885,
+              -0.0029151818696637743
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+            "object_to_gripper_xy": 0.007603027882731256,
+            "object_to_gripper_z": -0.0029151818696637743,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30880527242887407,
+              0.13861016564107814,
+              1.0461368221065042
+            ],
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+              0.29675595872225957,
+              0.16355945260098656,
+              1.0461368221065042
+            ],
+            "finger_midpoint": [
+              0.3027806155755668,
+              0.15108480912103234,
+              1.0461368221065042
+            ],
+            "object_minus_finger_midpoint": [
+              0.006024656853307275,
+              0.012474643479954223,
+              0.0
+            ],
+            "finger_gap": 0.027706549417209358,
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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": 0.01085020659951102,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048761899428265185,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.495023171006945,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30824225616806605,
+              0.16156288832212817,
+              1.2381405075847327
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+            "held_position": [
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+              0.16627103500422136,
+              1.2350754073052073
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008149007061413638,
+            "max_held_gripper_dist": 0.008154177266934763,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030651002795254456,
+            "max_held_gripper_z_dist": 0.003105623265366786,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0874364438036389,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.1405639945415229,
+              1.2350754073052073
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+              0.15341751477287213,
+              1.2350754073052073
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+            "held_grasp_object_position": [
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+              0.16627103500422136,
+              1.2350754073052073
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+            "held_grasp_finger_gap": 0.027685577810319835,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02529346130449601,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03823881071938872,
+              -0.9992003384719008,
+              0.011682335057934368
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00464625112563291,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30666251071791295,
+              -0.329754407906633,
+              0.8470195690563136
+            ],
+            "target_position": [
+              0.2988902178946495,
+              -0.3327871712652387,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008343032381565718,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18829885282410055,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195690563136,
+            "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": 0.07545897576537659,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08741106193925412,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15701324943278636,
+            "release_required_pad_clearance": 0.05370553096962706,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4202913066095846,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007731795310974121,
+            "max_z_decrease": 0.007731795310974121,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035216957977200314,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007731795310974121,
+            "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": 0.021191472814074425,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007731795310974121,
+            "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": 0.0077318191169203875,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15459014475345617,
+              -0.38904863595962524,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15459014475345617,
+              -0.38904863595962524,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15635162664435098,
+              -0.39057190730140945,
+              0.8080810332051768
+            ],
+            "closest_button": [
+              0.15457962453365326,
+              -0.3890549838542938,
+              0.7729414105415344
+            ],
+            "closest_ee_minus_button": [
+              0.0017720021106977235,
+              -0.0015169234471156257,
+              0.035139622663642345
+            ],
+            "button_min_z_position": [
+              0.15457098186016086,
+              -0.38904958963394165,
+              0.7690770626068115
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+            "min_active_finger_to_button": 0.14429393834327908,
+            "closest_active_finger": [
+              0.014958150684833527,
+              -0.3766043782234192,
+              0.8109884262084961
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+            "closest_active_finger_button": [
+              0.15458914637565613,
+              -0.38905060291290283,
+              0.7767975330352783
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1396309956908226,
+              0.012446224689483643,
+              0.03419089317321777
+            ],
+            "min_contact_pad_to_button": 0.021191472814074425,
+            "closest_contact_pad": [
+              0.15457098186016086,
+              -0.3914817022206964,
+              0.7901285078872431
+            ],
+            "closest_contact_pad_button": [
+              0.15457098186016086,
+              -0.38904958963394165,
+              0.7690770626068115
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002432112586754742,
+              0.02105144528043157
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 120,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0aee00c0c3528808286b1c9d2f26646d37a1c94421ea6b780e3871560ab39502",
+    "visual_seed": 5611257740198300114,
+    "episode_index": 120,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_121_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_121_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aafa96bf6a612cae176a0e3f7cfd58dba88c033
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_121_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 121,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.15956600923106393,
+              1.0466915875233023
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+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19010519932402625,
+            "gripper_z": 1.0489917497456571,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.30111600655230997,
+              0.15436069391912882,
+              1.0489917497456571
+            ],
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+              0.005801646459734022,
+              0.005205315311935105,
+              -0.0023001622223548512
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+            "object_to_gripper_xy": 0.007794511475417197,
+            "object_to_gripper_z": -0.0023001622223548512,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.306917653012044,
+              0.13465328407080718,
+              1.0466915875233023
+            ],
+            "finger_b": [
+              0.29453285828418396,
+              0.15956600923106393,
+              1.0466915875233023
+            ],
+            "finger_midpoint": [
+              0.300725255648114,
+              0.14710964665093557,
+              1.0466915875233023
+            ],
+            "object_minus_finger_midpoint": [
+              0.006192397363930013,
+              0.01245636258012836,
+              0.0
+            ],
+            "finger_gap": 0.027821341005812773,
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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": 1.0466915875233023,
+            "object_top_z": 1.0928693174835078,
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+            "fingertip_min_top_clearance": 0.013853318988061691,
+            "object_projection_between_fingers": 0.8018374844713264,
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+            "closest_contact_pad_minus_button": [
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+              0.0,
+              0.021070777842868926
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 121,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7c95ed7f2ac82487fec93aba6e01aa00c6d654cb9c13f581436b76d12553a82d",
+    "visual_seed": 3708681188257802143,
+    "episode_index": 121,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_122_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_122_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d566d381a436bf59b687b4b7f7169c69d052b166
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_122_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 122,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              0.16197996953915486,
+              1.0490445288395858
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+              0.13725477525425903,
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+              0.14961737239670694,
+              1.0490445288395858
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+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "gripper_away_ok": true,
+            "object_z": 0.8470193923084095,
+            "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": 0.07543802535934126,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08673557481779752,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15119379204757466,
+            "release_required_pad_clearance": 0.05336778740889876,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7516201871018569,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007598876953125,
+            "max_z_decrease": 0.007598876953125,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519466113769388,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007598876953125,
+            "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": 0.02105973870484157,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007598876953125,
+            "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": 0.007598898210360631,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1539070755243301,
+              -0.3911659121513366,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1539070755243301,
+              -0.3911659121513366,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1542666923870552,
+              -0.389342880288183,
+              0.8081304334949326
+            ],
+            "closest_button": [
+              0.1538961082696914,
+              -0.3911718130111694,
+              0.7729852795600891
+            ],
+            "closest_ee_minus_button": [
+              0.0003705841173637925,
+              0.0018289327229863983,
+              0.03514515393484352
+            ],
+            "button_min_z_position": [
+              0.1538891792297363,
+              -0.3911675810813903,
+              0.7692099809646606
+            ],
+            "min_active_finger_to_button": 0.14501318053107534,
+            "closest_active_finger": [
+              0.026968739926815033,
+              -0.4524257183074951,
+              0.8103464245796204
+            ],
+            "closest_active_finger_button": [
+              0.15390694141387937,
+              -0.3911678791046142,
+              0.7762437462806702
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12693820148706433,
+              -0.061257839202880915,
+              0.034102678298950195
+            ],
+            "min_contact_pad_to_button": 0.02105973870484157,
+            "closest_contact_pad": [
+              0.1538891792297363,
+              -0.3911675810813903,
+              0.7902697196695022
+            ],
+            "closest_contact_pad_button": [
+              0.1538891792297363,
+              -0.3911675810813903,
+              0.7692099809646606
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105973870484157
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 122,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "553937a0cde4ac3065e9f3a2825552ad3f2858176249da3c441b714950019b3d",
+    "visual_seed": 5917178485151260173,
+    "episode_index": 122,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_123_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_123_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2804302f186cde83d87103c41d5f35622d2f39dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_123_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 123,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30233450701655773,
+              0.15604517687790553,
+              1.045292697147248
+            ],
+            "current_z": 1.045292697147248,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18870618973868247,
+            "gripper_z": 1.0475719191555297,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2973855858919522,
+              0.15123034072762898,
+              1.0475719191555297
+            ],
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+              0.004948921124605543,
+              0.004814836150276558,
+              -0.0022792220082816783
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+            "object_to_gripper_xy": 0.00690466997412454,
+            "object_to_gripper_z": -0.0022792220082816783,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30233450701655773,
+              0.131729570292539,
+              1.045292697147248
+            ],
+            "finger_b": [
+              0.2905114996989372,
+              0.15604517687790553,
+              1.045292697147248
+            ],
+            "finger_midpoint": [
+              0.29642300335774746,
+              0.14388737358522227,
+              1.045292697147248
+            ],
+            "object_minus_finger_midpoint": [
+              0.005911503658810269,
+              0.012157803292683261,
+              0.0
+            ],
+            "finger_gap": 0.027037607616925512,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013518803808462756,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045292697147248,
+            "object_top_z": 1.0918173039957513,
+            "finger_top_clearance": 0.046524606848503236,
+            "fingertip_min_top_clearance": 0.013957382054550953,
+            "object_projection_between_fingers": 0.8087861285337645,
+            "object_to_finger_line_xy": 0.010632730479127368,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048827772809463,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.897964898031808,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+    "visual_seed": 5020055501749293158,
+    "episode_index": 123,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_124_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_124_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0900fcdd0b5b990bee20e7fcc4ae07527f489b33
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_124_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 124,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+              0.13093665146766895,
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+              0.14321610503717286,
+              1.0455190648150123
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                },
+                {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
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+            "held_grasp_z_skew_frame": "object_local_up",
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+              "held_object": "beaker_b",
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+            "object_upright_axis_local": null,
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+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00797879695892334,
+            "max_z_decrease": 0.00797879695892334,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035247883254790065,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00797879695892334,
+            "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": 0.021071203298877683,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00797879695892334,
+            "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": 0.007978823027897994,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16096538305282593,
+              -0.39076283574104304,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16096538305282593,
+              -0.39076283574104304,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1628059788674089,
+              -0.3887673280325496,
+              0.8078139281930752
+            ],
+            "closest_button": [
+              0.16095508635044098,
+              -0.3907711803913116,
+              0.7726717591285706
+            ],
+            "closest_ee_minus_button": [
+              0.0018508925169679336,
+              0.0020038523587619927,
+              0.035142169064504625
+            ],
+            "button_min_z_position": [
+              0.16094505786895752,
+              -0.3907645344734192,
+              0.7688300609588623
+            ],
+            "min_active_finger_to_button": 0.14364928588669704,
+            "closest_active_finger": [
+              0.03604894131422043,
+              -0.4529402256011963,
+              0.8106340169906616
+            ],
+            "closest_active_finger_button": [
+              0.1609664261341095,
+              -0.3907657265663147,
+              0.7765008807182312
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12491748481988907,
+              -0.06217449903488159,
+              0.03413313627243042
+            ],
+            "min_contact_pad_to_button": 0.021071203298877683,
+            "closest_contact_pad": [
+              0.16094505786895752,
+              -0.3907645344734192,
+              0.78990126425774
+            ],
+            "closest_contact_pad_button": [
+              0.16094505786895752,
+              -0.3907645344734192,
+              0.7688300609588623
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021071203298877683
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 124,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "08e8dd1c8018ef9e35cc11374ce17fca145964483808ed5c8011465bb52af113",
+    "visual_seed": 5233861621800525589,
+    "episode_index": 124,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_125_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_125_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe0597bee9242805f5a14489fc2567f027c5ba95
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_125_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 125,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.30201239503523014,
+              0.16364996690831257,
+              1.0487289659042769
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+            "current_z": 1.0487289659042769,
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+            "lift_margin": 0.19214263730964565,
+            "gripper_z": 1.050944586419788,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2968967002044299,
+              0.15875219180736388,
+              1.050944586419788
+            ],
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+              0.005115694830800266,
+              0.004897775100948687,
+              -0.002215620515511052
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+            "object_to_gripper_z": -0.002215620515511052,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30201239503523014,
+              0.13921193823060002,
+              1.0487289659042769
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+              0.2900773785190178,
+              0.16364996690831257,
+              1.0487289659042769
+            ],
+            "finger_midpoint": [
+              0.296044886777124,
+              0.1514309525694563,
+              1.0487289659042769
+            ],
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+              0.005967508258106158,
+              0.012219014338856277,
+              0.0
+            ],
+            "finger_gap": 0.027196725260497115,
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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": 0.04849298551082053,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6398745424989954,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30203881197197596,
+              0.16176412377036264,
+              1.240005697185866
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+            "held_position": [
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+              0.1662103110634616,
+              1.237642104942444
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007419312089633528,
+            "max_held_gripper_dist": 0.007426724495577185,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023635922434219747,
+            "max_held_gripper_z_dist": 0.0023975771095992027,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08733278389908951,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.14075001148444388,
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+              0.15348016127395275,
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+            "held_grasp_object_position": [
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+              0.1662103110634616,
+              1.237642104942444
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+            "held_grasp_finger_gap": 0.02727592761856929,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024629609816288974,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07658073774408129,
+              -0.9968054214808173,
+              0.022679116231074214
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003914305433549129,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213606522106464,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30934331908543095,
+              -0.33115793891333434,
+              0.8470198473702764
+            ],
+            "target_position": [
+              0.3010524946156001,
+              -0.33385950040480833,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008719874132220116,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1885521143833186,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198473702764,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525131562639588,
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+            "release_min_pad_clearance": 0.15769133200907987,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1994093070176557,
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+            "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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0077512264251708984,
+            "max_z_decrease": 0.0077512264251708984,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514064854250574,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0077512264251708984,
+            "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": 0.021127229683281165,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0077512264251708984,
+            "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": 0.00775124561965641,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15675242245197296,
+              -0.3901209533214569,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15675242245197296,
+              -0.3901209533214569,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15646984115317433,
+              -0.39066232044745763,
+              0.8080039580535816
+            ],
+            "closest_button": [
+              0.1567420959472656,
+              -0.3901301026344299,
+              0.7728683948516846
+            ],
+            "closest_ee_minus_button": [
+              -0.0002722547940912645,
+              -0.0005322178130277577,
+              0.035135563201897035
+            ],
+            "button_min_z_position": [
+              0.15673525631427765,
+              -0.39012265205383295,
+              0.7690576314926147
+            ],
+            "min_active_finger_to_button": 0.14635527537812804,
+            "closest_active_finger": [
+              0.015385657548904419,
+              -0.373842716217041,
+              0.8109146356582642
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+              0.15675699710845944,
+              -0.3901224732398986,
+              0.7767242789268494
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.14137133955955503,
+              0.01627975702285761,
+              0.034190356731414795
+            ],
+            "min_contact_pad_to_button": 0.021127229683281165,
+            "closest_contact_pad": [
+              0.15673525631427765,
+              -0.3918997704581193,
+              0.7901099872816295
+            ],
+            "closest_contact_pad_button": [
+              0.15673525631427765,
+              -0.39012265205383295,
+              0.7690576314926147
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017771184042863486,
+              0.021052355789014765
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 125,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b36ec6c22feb4d50e405dc505b87f7e1c912428068b0681969775a9ebf91e155",
+    "visual_seed": 3517781429988784347,
+    "episode_index": 125,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_126_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_126_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f550cd3acbf33969b1101389f1162c9af109095b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_126_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 126,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.15622793084290792,
+              1.0474191669495918
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+            "gripper_z": 1.0494768490582043,
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+            "gripper_position": [
+              0.2982313046929879,
+              0.1513184752785383,
+              1.0494768490582043
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+              0.005333589123725502,
+              0.004909455564369614,
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+            "object_to_gripper_z": -0.0020576821086124575,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3035648938167134,
+              0.13150967300747202,
+              1.0474191669495918
+            ],
+            "finger_b": [
+              0.2917675907679804,
+              0.15622793084290792,
+              1.0474191669495918
+            ],
+            "finger_midpoint": [
+              0.29766624229234695,
+              0.14386880192518997,
+              1.0474191669495918
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+            "object_minus_finger_midpoint": [
+              0.005898651524366472,
+              0.012359128917717954,
+              0.0
+            ],
+            "finger_gap": 0.027389206444195013,
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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": 1.093512003477916,
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+            "object_projection_between_fingers": 0.8144732347846545,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857332833337856,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.738176258989406,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
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+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 126,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6020b06f4739d54c62065e29590810ddfff19288dbc276642adcec49d6aa6758",
+    "visual_seed": 5887623622349924925,
+    "episode_index": 126,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_128_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_128_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec35e54fccf23bbbba0d2221f4dfe3d19b42bfdf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_128_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 128,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+          "skill": "pick",
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+              0.16047887621734253,
+              1.0486327546513785
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+              1.0508979048396545
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+              0.004927535706918895,
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+              0.13577820655975056,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1546838101368953,
+            "release_required_pad_clearance": 0.0534633341679175,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9394998102809948,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007573306560516357,
+            "max_z_decrease": 0.007573306560516357,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518744903552628,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007573306560516357,
+            "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": 0.02126039737119298,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007573306560516357,
+            "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": 0.0075733318633281164,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15976430475711828,
+              -0.38911551237106323,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15976430475711828,
+              -0.38911551237106323,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1609713828841899,
+              -0.39062769012308246,
+              0.808249146087086
+            ],
+            "closest_button": [
+              0.1597596257925034,
+              -0.3891237676143646,
+              0.7731147408485413
+            ],
+            "closest_ee_minus_button": [
+              0.0012117570916864995,
+              -0.0015039225087178365,
+              0.03513440523854472
+            ],
+            "button_min_z_position": [
+              0.1597448736429215,
+              -0.38911789655685425,
+              0.7692355513572693
+            ],
+            "min_active_finger_to_button": 0.14484260948927932,
+            "closest_active_finger": [
+              0.019887685775756836,
+              -0.3736329674720764,
+              0.8106970191001892
+            ],
+            "closest_active_finger_button": [
+              0.15976655483245855,
+              -0.3891189396381378,
+              0.7764410972595215
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13987886905670172,
+              0.015485972166061401,
+              0.034255921840667725
+            ],
+            "min_contact_pad_to_button": 0.02126039737119298,
+            "closest_contact_pad": [
+              0.1597448736429215,
+              -0.39188997037602263,
+              0.7903144532053759
+            ],
+            "closest_contact_pad_button": [
+              0.1597448736429215,
+              -0.38911789655685425,
+              0.7692355513572693
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002772073819168386,
+              0.021078901848106568
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 128,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "69059a9f1a286922c22a998519a5938fc9f87a0586118785294d78bf357d54ea",
+    "visual_seed": 6000727442937118158,
+    "episode_index": 128,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdb59c5a352901a7913db4f8ff1bd2fcfecb9d50
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_12_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3031280862480813,
+              0.16403931034072558,
+              1.0467995706096134
+            ],
+            "current_z": 1.0467995706096134,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19021312280569258,
+            "gripper_z": 1.049180962362379,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29756778401426265,
+              0.1588923974548586,
+              1.049180962362379
+            ],
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+              0.005560302233818648,
+              0.005146912885866967,
+              -0.002381391752765527
+            ],
+            "object_to_gripper_xy": 0.00757678514847241,
+            "object_to_gripper_z": -0.002381391752765527,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3031280862480813,
+              0.1393050546641696,
+              1.0467995706096134
+            ],
+            "finger_b": [
+              0.29079859846545886,
+              0.16403931034072558,
+              1.0467995706096134
+            ],
+            "finger_midpoint": [
+              0.2969633423567701,
+              0.15167218250244757,
+              1.0467995706096134
+            ],
+            "object_minus_finger_midpoint": [
+              0.00616474389131122,
+              0.012367127838278008,
+              0.0
+            ],
+            "finger_gap": 0.027636925893721936,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013818462946860982,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467995706096134,
+            "object_top_z": 1.0928561398352765,
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+            "object_projection_between_fingers": 0.8009736395754136,
+            "object_to_finger_line_xy": 0.011034537790095991,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04859342424375766,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7999596888182754,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
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+              -0.9970348699759785,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3110580117178152,
+              -0.33677687632428405,
+              0.8470188512698572
+            ],
+            "target_position": [
+              0.30291866229373626,
+              -0.3394646208664521,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008571638103140423,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18702550200642415,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470188512698572,
+            "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": 0.0757357432501388,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08582497385948944,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15497855139122285,
+            "release_required_pad_clearance": 0.05291248692974472,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.861384578150841,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007753968238830566,
+            "max_z_decrease": 0.007753968238830566,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035156619688270885,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007753968238830566,
+            "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": 0.02108460161148274,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007753968238830566,
+            "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": 0.007753989628765623,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15861858427524564,
+              -0.3957260847091674,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15861858427524564,
+              -0.3957260847091674,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15952233147866648,
+              -0.3949771739435274,
+              0.8081311997562153
+            ],
+            "closest_button": [
+              0.15861152112483973,
+              -0.39573344588279713,
+              0.7729945182800293
+            ],
+            "closest_ee_minus_button": [
+              0.0009108103538267576,
+              0.0007562719392697481,
+              0.03513668147618598
+            ],
+            "button_min_z_position": [
+              0.15860052406787872,
+              -0.395728439092636,
+              0.7690548896789551
+            ],
+            "min_active_finger_to_button": 0.14503086129499393,
+            "closest_active_finger": [
+              0.03157992660999298,
+              -0.45677825808525085,
+              0.8104763627052307
+            ],
+            "closest_active_finger_button": [
+              0.1586201190948486,
+              -0.3957292437553405,
+              0.7763038873672485
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12704019248485562,
+              -0.061049014329910334,
+              0.03417247533798218
+            ],
+            "min_contact_pad_to_button": 0.02108460161148274,
+            "closest_contact_pad": [
+              0.15860052406787872,
+              -0.3962649000778537,
+              0.7901326655276133
+            ],
+            "closest_contact_pad_button": [
+              0.15860052406787872,
+              -0.395728439092636,
+              0.7690548896789551
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005364609852177016,
+              0.02107777584865822
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e507fd8a0dcdc17fcadfb40507b819db236ff869f49777de1219575fe4abe405",
+    "visual_seed": 7423103859562213042,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..49bf59d131b9f5a229a825a0ad6f06c78910fa1e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_15_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              1.0467990071987716
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+            "stable_success_frames": 219,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_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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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
+            },
+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_min_pad_clearance": 0.153531709093935,
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+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.9859498093941612,
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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",
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+            "forbidden": [],
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+            "failed_keys": []
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+        },
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+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007577359676361084,
+            "max_z_decrease": 0.007577359676361084,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516666805257498,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007577359676361084,
+            "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": 0.02108082088055041,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007577359676361084,
+            "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": 0.007577382137973075,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16154213249683377,
+              -0.39064118266105646,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16154213249683377,
+              -0.39064118266105646,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1616377500552612,
+              -0.38913308820794285,
+              0.8082381160335822
+            ],
+            "closest_button": [
+              0.16153377294540402,
+              -0.39064946770668024,
+              0.7731043100357056
+            ],
+            "closest_ee_minus_button": [
+              0.000103977109857184,
+              0.0015163794987373969,
+              0.03513380599787663
+            ],
+            "button_min_z_position": [
+              0.16152387857437128,
+              -0.3906438648700714,
+              0.7692314982414246
+            ],
+            "min_active_finger_to_button": 0.14541074076771318,
+            "closest_active_finger": [
+              0.03399988263845444,
+              -0.4515465497970581,
+              0.8105992078781128
+            ],
+            "closest_active_finger_button": [
+              0.16154287755489347,
+              -0.39064398407936096,
+              0.776423990726471
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12754299491643903,
+              -0.060902565717697144,
+              0.034175217151641846
+            ],
+            "min_contact_pad_to_button": 0.02108082088055041,
+            "closest_contact_pad": [
+              0.16152387857437128,
+              -0.3906438648700714,
+              0.790312319121975
+            ],
+            "closest_contact_pad_button": [
+              0.16152387857437128,
+              -0.3906438648700714,
+              0.7692314982414246
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108082088055041
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "09bcf332a71645fc61823232dee158a581dabc199cae70ac8c1d1e7cdbba04ae",
+    "visual_seed": 1510464851217434763,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8163267fd0f8e7662e954e468a2186ebf7ae226
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_16_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30402462073132774,
+              0.15556153907640546,
+              1.0485340782014057
+            ],
+            "current_z": 1.0485340782014057,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19194757079284008,
+            "gripper_z": 1.0509531206541347,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29884210549618895,
+              0.15056782940141333,
+              1.0509531206541347
+            ],
+            "object_minus_gripper": [
+              0.005182515235138796,
+              0.004993709674992131,
+              -0.002419042452729059
+            ],
+            "object_to_gripper_xy": 0.00719691603956554,
+            "object_to_gripper_z": -0.002419042452729059,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30402462073132774,
+              0.13118935049657857,
+              1.0485340782014057
+            ],
+            "finger_b": [
+              0.29179890910660766,
+              0.15556153907640546,
+              1.0485340782014057
+            ],
+            "finger_midpoint": [
+              0.2979117649189677,
+              0.143375444786492,
+              1.0485340782014057
+            ],
+            "object_minus_finger_midpoint": [
+              0.006112855812360041,
+              0.012186094289913463,
+              0.0
+            ],
+            "finger_gap": 0.02726667564815081,
+            "fingertip_max_gap": 0.09238635961203914,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013633337824075418,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0485340782014057,
+            "object_top_z": 1.0948302703478685,
+            "finger_top_clearance": 0.046296192146462856,
+            "fingertip_min_top_clearance": 0.013888857643938856,
+            "object_projection_between_fingers": 0.7989593354344866,
+            "object_to_finger_line_xy": 0.010927894294311135,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048693179806019574,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.844809249703959,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30414348893550697,
+              0.15353578805754442,
+              1.2416162153126669
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+            "held_position": [
+              0.30971873244206394,
+              0.15800851544025563,
+              1.2390531586674836
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007593279249696971,
+            "max_held_gripper_dist": 0.007595522064051693,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025630566451833037,
+            "max_held_gripper_z_dist": 0.0025922908617013185,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08665494583349394,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30971873244206394,
+              0.13246828662849564,
+              1.2390531586674836
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+            "held_grasp_finger_b": [
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+              0.15800851544025563,
+              1.2390531586674836
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+            "held_grasp_midpoint": [
+              0.30479412198889166,
+              0.14523840103437563,
+              1.2390531586674836
+            ],
+            "held_grasp_object_position": [
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+              0.15800851544025563,
+              1.2390531586674836
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+            "held_grasp_finger_gap": 0.027373535398611388,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02462788365894641,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08285988335672842,
+              -0.9962318326093108,
+              0.025619824862859297
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003863867563975109,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0320701778408832,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
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+                "link0",
+                "table",
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+            },
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+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.3095167240427753,
+              -0.33245385838365865,
+              0.8470193737861633
+            ],
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+              0.3026702299538889,
+              -0.334564467595053,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.0071644366528275435,
+            "xy_threshold": 0.08,
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+            "gripper_away_ok": true,
+            "object_z": 0.8470193737861633,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578454790008823,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1546012021256017,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.16312921602915062,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007830679416656494,
+            "max_z_decrease": 0.007830679416656494,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035215237339325973,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007830679416656494,
+            "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": 0.02105955810621285,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007830679416656494,
+            "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": 0.007830701057093336,
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+            "button_start": [
+              0.1583701521158218,
+              -0.39082592725753784,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1583701521158218,
+              -0.39082592725753784,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15939048734267294,
+              -0.3888804551954495,
+              0.8079925558075394
+            ],
+            "closest_button": [
+              0.1583587378263473,
+              -0.3908320665359497,
+              0.7728465795516968
+            ],
+            "closest_ee_minus_button": [
+              0.0010317495163256474,
+              0.0019516113405002034,
+              0.03514597625584259
+            ],
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+              0.15835182368755335,
+              -0.39082765579223633,
+              0.7689781785011292
+            ],
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+            "closest_active_finger": [
+              0.03272080421447754,
+              -0.45320290327072144,
+              0.81080162525177
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+            "closest_active_finger_button": [
+              0.15837287902832028,
+              -0.3908269703388214,
+              0.7767002582550049
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12565207481384275,
+              -0.062375932931900024,
+              0.03410136699676514
+            ],
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+            "closest_contact_pad": [
+              0.15835182368755335,
+              -0.39082765579223633,
+              0.790037736607342
+            ],
+            "closest_contact_pad_button": [
+              0.15835182368755335,
+              -0.39082765579223633,
+              0.7689781785011292
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105955810621285
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5940afbe15d9c6eaa30e97a3958634a7576607ad1d829c86fec4171e91e0cc56",
+    "visual_seed": 1250172414312025273,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..43838a3a582887518b8a30175bef5cce5aecc970
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_17_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.15610208020926564,
+              1.0469385577275558
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+            "lift_margin": 0.19035205031899027,
+            "gripper_z": 1.0500878031598193,
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+            "gripper_position": [
+              0.3005151548151833,
+              0.1509111050030655,
+              1.0500878031598193
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+              0.005687760201571468,
+              0.005190975206200127,
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+            "object_to_gripper_xy": 0.007700444123683046,
+            "object_to_gripper_z": -0.00314924543226347,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3062029150167548,
+              0.13117463043028108,
+              1.0469385577275558
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+            "finger_b": [
+              0.2939540386654347,
+              0.15610208020926564,
+              1.0469385577275558
+            ],
+            "finger_midpoint": [
+              0.30007847684109473,
+              0.14363835531977337,
+              1.0469385577275558
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+            "object_minus_finger_midpoint": [
+              0.006124438175660052,
+              0.012463724889492267,
+              0.0
+            ],
+            "finger_gap": 0.02777431771175894,
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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": 0.013657972342366863,
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+            "object_to_finger_line_xy": 0.010993366363316763,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6467828451052022,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a5a29007a8eafdad2bf008dd0761d25187150b3e868c5fa4f9bc187d4ead64d9",
+    "visual_seed": 2527958687068880472,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fde90195b34701a598f4083e8e83c57b436665ae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+          "skill": "pick",
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+              0.16494021851847365,
+              1.0463277616288065
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+              0.16004798309578072,
+              1.0484257017231724
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+              0.004892235422692931,
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+              0.14056577181756746,
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+              0.15275299516802054,
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+            "stable_success_frames": 219,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "held_object_xy_range": 0.0873690365319891,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15540011934957657,
+            "release_required_pad_clearance": 0.0532024499316472,
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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": 1.4254357119193886,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007901370525360107,
+            "max_z_decrease": 0.007901370525360107,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512558038404664,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007901370525360107,
+            "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": 0.021107079664389482,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007901370525360107,
+            "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": 0.007901397016051923,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16255636513233185,
+              -0.3884384930133819,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16255636513233185,
+              -0.3884384930133819,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16205033617445205,
+              -0.38816807526503433,
+              0.8077998418802486
+            ],
+            "closest_button": [
+              0.1625484675168991,
+              -0.38844829797744745,
+              0.7726789116859436
+            ],
+            "closest_ee_minus_button": [
+              -0.0004981313424470557,
+              0.00028022271241312513,
+              0.035120930194304956
+            ],
+            "button_min_z_position": [
+              0.16253605484962463,
+              -0.3884409666061401,
+              0.7689074873924255
+            ],
+            "min_active_finger_to_button": 0.14646586784830115,
+            "closest_active_finger": [
+              0.03422565758228302,
+              -0.4501844048500061,
+              0.8107248544692993
+            ],
+            "closest_active_finger_button": [
+              0.16255810856819153,
+              -0.38844078779220576,
+              0.7765085101127625
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1283324509859085,
+              -0.06174361705780035,
+              0.034216344356536865
+            ],
+            "min_contact_pad_to_button": 0.021107079664389482,
+            "closest_contact_pad": [
+              0.16253605484962463,
+              -0.38950127739948187,
+              0.7899879179615673
+            ],
+            "closest_contact_pad_button": [
+              0.16253605484962463,
+              -0.3884409666061401,
+              0.7689074873924255
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00106031079334179,
+              0.021080430569141773
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "830dfe2f8e48523641d541eb20fe0d36d97769dbca918969f57c0952380861bf",
+    "visual_seed": 8276244819951088558,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..724396363981bf9ea6cd1590f0f65a53cc68e3c7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_19_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.30181333793170406,
+              0.162447896484524,
+              1.0454825469157971
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+            "current_z": 1.0454825469157971,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18889609911187633,
+            "gripper_z": 1.0477231782275946,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29674465569061537,
+              0.15760044736428125,
+              1.0477231782275946
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+              0.005068682241088696,
+              0.004847449120242764,
+              -0.002240631311797525
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+            "object_to_gripper_xy": 0.007013508582333829,
+            "object_to_gripper_z": -0.002240631311797525,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30181333793170406,
+              0.13801722049926993,
+              1.0454825469157971
+            ],
+            "finger_b": [
+              0.2899817064186132,
+              0.162447896484524,
+              1.0454825469157971
+            ],
+            "finger_midpoint": [
+              0.29589752217515863,
+              0.15023255849189698,
+              1.0454825469157971
+            ],
+            "object_minus_finger_midpoint": [
+              0.005915815756545428,
+              0.012215337992627029,
+              0.0
+            ],
+            "finger_gap": 0.02714489700400492,
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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": 0.010648585471906473,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048604246634279855,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6962411718326054,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3017567836725089,
+              0.16075676784395554,
+              1.2405284086301125
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+            "held_position": [
+              0.3071586638133936,
+              0.1651694642569277,
+              1.238172876841255
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
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+            "held_grasp_geometry_checked": true,
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+              0.3022301049617414,
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+          "failure_messages": {},
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31206584548229516,
+              -0.335797673676377,
+              0.8470192797235397
+            ],
+            "target_position": [
+              0.3052836344683027,
+              -0.33764968895251785,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007030529625951357,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18491288032799555,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192797235397,
+            "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": 0.07567834284883018,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08545690537248345,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15302515471332742,
+            "release_required_pad_clearance": 0.052728452686241725,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5066724697011495,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007990360260009766,
+            "max_z_decrease": 0.007990360260009766,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03523471468131556,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007990360260009766,
+            "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": 0.021210343580981318,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007990360260009766,
+            "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": 0.007990382701645442,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16098356246948237,
+              -0.39391115307807917,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16098356246948237,
+              -0.39391115307807917,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16332886057221546,
+              -0.3951702861243431,
+              0.8079819170383746
+            ],
+            "closest_button": [
+              0.16097541153430933,
+              -0.39391994476318354,
+              0.7728481292724609
+            ],
+            "closest_ee_minus_button": [
+              0.00235344903790613,
+              -0.0012503413611595349,
+              0.03513378776591369
+            ],
+            "button_min_z_position": [
+              0.16096475720405573,
+              -0.3939133882522583,
+              0.7688184976577759
+            ],
+            "min_active_finger_to_button": 0.1437640179297367,
+            "closest_active_finger": [
+              0.022143840789794922,
+              -0.37912726402282715,
+              0.8109950423240662
+            ],
+            "closest_active_finger_button": [
+              0.16098551452159876,
+              -0.39391329884529114,
+              0.7767539024353027
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13884167373180384,
+              0.01478603482246399,
+              0.03424113988876343
+            ],
+            "min_contact_pad_to_button": 0.021210343580981318,
+            "closest_contact_pad": [
+              0.16096475720405573,
+              -0.39631980079066664,
+              0.7898918897321019
+            ],
+            "closest_contact_pad_button": [
+              0.16096475720405573,
+              -0.3939133882522583,
+              0.7688184976577759
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024064125384083423,
+              0.021073392074326014
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "85ab8352711bb28af3c34ff591c16ac81f1b7fb80399fe8bff729af67f490b5b",
+    "visual_seed": 5993521254028828865,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c133e81c5c2907e29c7ffd325f4b17d6e5c43ca0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_1_success.json
@@ -0,0 +1,926 @@
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+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108481922169202,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007915019989013672,
+            "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": 0.007915043549450745,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15982694923877716,
+              -0.3969191908836364,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15982694923877716,
+              -0.3969191908836364,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16117387731797714,
+              -0.396694827716535,
+              0.8080619416141643
+            ],
+            "closest_button": [
+              0.15981891751289368,
+              -0.3969263434410095,
+              0.7729208469390869
+            ],
+            "closest_ee_minus_button": [
+              0.001354959805083461,
+              0.00023151572447449587,
+              0.03514109467507742
+            ],
+            "button_min_z_position": [
+              0.1598077118396759,
+              -0.3969208896160125,
+              0.768893837928772
+            ],
+            "min_active_finger_to_button": 0.1448559226560332,
+            "closest_active_finger": [
+              0.03383573889732361,
+              -0.45970484614372253,
+              0.8109794855117798
+            ],
+            "closest_active_finger_button": [
+              0.15982694923877716,
+              -0.3969209194183349,
+              0.7768088579177856
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12599121034145355,
+              -0.06278392672538763,
+              0.03417062759399414
+            ],
+            "min_contact_pad_to_button": 0.02108481922169202,
+            "closest_contact_pad": [
+              0.1598077118396759,
+              -0.3978449282460302,
+              0.7899583995007978
+            ],
+            "closest_contact_pad_button": [
+              0.1598077118396759,
+              -0.3969208896160125,
+              0.768893837928772
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009240386300176651,
+              0.021064561572025853
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d6fbaab0222f1e0eea1cb52fe40faefb0911d293ab0c7607e2f90ee0f1883993",
+    "visual_seed": 7799612148080887391,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c08b97d9e0b8b7afff11943dbb59fc45358055d8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_20_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30428271391848155,
+              0.15344940601028836,
+              1.00362345362519
+            ],
+            "current_z": 1.00362345362519,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14703694621662444,
+            "gripper_z": 1.0506174118147678,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3008830132766771,
+              0.151544212437781,
+              1.0506174118147678
+            ],
+            "object_minus_gripper": [
+              0.0033997006418044484,
+              0.0019051935725073743,
+              -0.046993958189577745
+            ],
+            "object_to_gripper_xy": 0.003897143441369459,
+            "object_to_gripper_z": -0.046993958189577745,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30428271391848155,
+              0.13123808600993705,
+              1.037023602548434
+            ],
+            "finger_b": [
+              0.2945861239328156,
+              0.15344940601028836,
+              1.0371234191547596
+            ],
+            "finger_midpoint": [
+              0.2994344189256486,
+              0.1423437460101127,
+              1.037073510851597
+            ],
+            "object_minus_finger_midpoint": [
+              0.004848294992832958,
+              0.011105660000175654,
+              -0.033450057226406926
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+            "finger_gap": 0.024235852715822112,
+            "fingertip_max_gap": 0.11564714675530216,
+            "finger_z_skew": 9.981660632552014e-05,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012117823582518053,
+            "object_to_finger_midpoint_z": 0.033450057226406926,
+            "finger_midpoint_minus_object_z": 0.033450057226406926,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.00362345362519,
+            "object_top_z": 1.0562081301393593,
+            "finger_top_clearance": 0.01913461928776239,
+            "fingertip_min_top_clearance": 0.015775402954250776,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012117823582518053,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.06032357337765108,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 14.239667486639762,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3115689255032891,
+              0.1319321311625876,
+              1.2017596760608191
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+            "held_position": [
+              0.3114312569739237,
+              0.1286742939740014,
+              1.1546971611042183
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 6,
+            "effective_shake_count": 6,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0471753406962959,
+            "max_held_gripper_dist": 0.0471890473829954,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.047062514956600854,
+            "max_held_gripper_z_dist": 0.04717010143062095,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09153926971038678,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3114312569739237,
+              0.11029344629556097,
+              1.189579128671851
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+              0.15829055934269037,
+              1.1835655395374123
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+            "held_grasp_midpoint": [
+              0.3114312569739237,
+              0.13429200281912568,
+              1.1865723341046315
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+            "held_grasp_object_position": [
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+              0.1286742939740014,
+              1.1546971611042183
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+            "held_grasp_finger_gap": 0.04837236933556964,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.045460265099624364,
+            "held_grasp_world_z_skew": 0.006013589134438613,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.3379869917376723,
+              -0.9262369666732729,
+              0.16688281812101846
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.03236621432599403,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.04508413586776832,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3194098545107372,
+              -0.3278441891870969,
+              0.8470190274791648
+            ],
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+              0.3065438227504938,
+              -0.3322308116476556,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.013593278849014708,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.19236766117693474,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470190274791648,
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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": 0.16195505108559127,
+            "release_required_pad_clearance": 0.05717171292684299,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 9.926426978599514,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 168,
+            "max_placed_release_frames": 168
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007815897464752197,
+            "max_z_decrease": 0.007815897464752197,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519678314567587,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007815897464752197,
+            "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": 0.02108608086988739,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007815897464752197,
+            "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": 0.007815922567217875,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16224375367164606,
+              -0.3884922564029693,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16224375367164606,
+              -0.3884922564029693,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1614509725871747,
+              -0.38640062140923437,
+              0.8078470596097325
+            ],
+            "closest_button": [
+              0.1622364073991775,
+              -0.38850173354148854,
+              0.7727218270301819
+            ],
+            "closest_ee_minus_button": [
+              -0.0007854348120027999,
+              0.002101112132254168,
+              0.03512523257955058
+            ],
+            "button_min_z_position": [
+              0.16222414374351496,
+              -0.38849505782127375,
+              0.7689929604530334
+            ],
+            "min_active_finger_to_button": 0.14596172415267708,
+            "closest_active_finger": [
+              0.03364238142967224,
+              -0.44846171140670776,
+              0.8107596039772034
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+            "closest_active_finger_button": [
+              0.1622458547353744,
+              -0.3884955942630767,
+              0.7765538096427917
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12860347330570215,
+              -0.05996611714363104,
+              0.03420579433441162
+            ],
+            "min_contact_pad_to_button": 0.02108608086988739,
+            "closest_contact_pad": [
+              0.16222414374351496,
+              -0.38849505782127375,
+              0.7900790413229208
+            ],
+            "closest_contact_pad_button": [
+              0.16222414374351496,
+              -0.38849505782127375,
+              0.7689929604530334
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108608086988739
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ea224ac62cae67cb72f505af31e83faefca140b0acee7932100deb5cbf99a661",
+    "visual_seed": 5368335862886382718,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..062b31d83367cc33dca090e6214fe178bdc821ba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.16240601165769497,
+              1.0489818246155245
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+            "lift_margin": 0.19239543641624846,
+            "gripper_z": 1.0510068323693058,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3035208389444086,
+              0.1574445512439206,
+              1.0510068323693058
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+              0.005146999087772219,
+              0.004961460413774377,
+              -0.0020250077537813382
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+            "object_to_gripper_z": -0.0020250077537813382,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30866783803218084,
+              0.13801533985168818,
+              1.0489818246155245
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+            "finger_b": [
+              0.29655229316940435,
+              0.16240601165769497,
+              1.0489818246155245
+            ],
+            "finger_midpoint": [
+              0.3026100656007926,
+              0.15021067575469157,
+              1.0489818246155245
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+            "object_minus_finger_midpoint": [
+              0.00605777243138822,
+              0.012195335903003396,
+              0.0
+            ],
+            "finger_gap": 0.02723400995942912,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_top_z": 1.0952263130575104,
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+            "object_projection_between_fingers": 0.802092288766644,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864026433581396,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f826f9adb913a75e8acf8daa074406dae1f4b2d98b1f6b82f610f8f0e47c076b",
+    "visual_seed": 5007196113661045846,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5081e61a9c68921ed97e968e468d6bb0671695a1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_24_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3082735874233208,
+              0.16110412269280533,
+              1.0471864112521347
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+            "current_z": 1.0471864112521347,
+            "required_z": 0.856586388199276,
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+            "lift_margin": 0.19060002305285872,
+            "gripper_z": 1.049258869700575,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.3029905316266064,
+              0.15614486820856538,
+              1.049258869700575
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+              0.005283055796714398,
+              0.00495925448423995,
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+            "object_to_gripper_z": -0.002072458448440173,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.13651423217730058,
+              1.0471864112521347
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+              0.16110412269280533,
+              1.0471864112521347
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+              0.3022806854088861,
+              0.14880917743505295,
+              1.0471864112521347
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+              0.012294945257752377,
+              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": 0.04852126240037878,
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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": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.159094896649489,
+              1.2389795536300867
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+              0.16361064316462737,
+              1.2367608767920868
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007543126845043421,
+            "max_held_gripper_dist": 0.007547515849614381,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002218676837999922,
+            "max_held_gripper_z_dist": 0.0022532802255028628,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08673638983645848,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.13804972454827444,
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+              0.15083018385645092,
+              1.2367608767920868
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+              0.16361064316462737,
+              1.2367608767920868
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+            "held_grasp_finger_gap": 0.027419524313913667,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02483073749523394,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9975585329930539,
+              0.018666581658832393
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040974295063698095,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1589934397085302,
+            "release_required_pad_clearance": 0.05262261180904258,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.30389705134798023,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007873952388763428,
+            "max_z_decrease": 0.007873952388763428,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035206396492944755,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007873952388763428,
+            "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": 0.021066289220754805,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007873952388763428,
+            "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": 0.007873975398219974,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15423938632011408,
+              -0.3939163386821747,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15423938632011408,
+              -0.3939163386821747,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1563679953331741,
+              -0.3937281137202841,
+              0.808010038727374
+            ],
+            "closest_button": [
+              0.15422782301902765,
+              -0.3939223289489746,
+              0.7728692889213562
+            ],
+            "closest_ee_minus_button": [
+              0.0021401723141464546,
+              0.00019421522869050856,
+              0.03514074980601778
+            ],
+            "button_min_z_position": [
+              0.15422035753726956,
+              -0.3939168453216553,
+              0.7689349055290222
+            ],
+            "min_active_finger_to_button": 0.14409835160126852,
+            "closest_active_finger": [
+              0.014968574047088623,
+              -0.37982720136642456,
+              0.8109154105186462
+            ],
+            "closest_active_finger_button": [
+              0.15424317121505732,
+              -0.39391589164733887,
+              0.7767331004142761
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1392745971679687,
+              0.014088690280914307,
+              0.03418231010437012
+            ],
+            "min_contact_pad_to_button": 0.021066289220754805,
+            "closest_contact_pad": [
+              0.15422035753726956,
+              -0.3946364743577121,
+              0.7899888998194877
+            ],
+            "closest_contact_pad_button": [
+              0.15422035753726956,
+              -0.3939168453216553,
+              0.7689349055290222
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007196290360568236,
+              0.021053994290465505
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "67e1a9d6db70bd5497cdd12b782820efe3278050fb2d2b464efbd4e0dfea915d",
+    "visual_seed": 6898791197280843799,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ceabde2941a18c3f227306f44008aa0b0f1b9f7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30207522043945406,
+              0.15714773977961466,
+              1.0479072197010977
+            ],
+            "current_z": 1.0479072197010977,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1913207122925321,
+            "gripper_z": 1.050243428522335,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2967446728183064,
+              0.15219654029660296,
+              1.050243428522335
+            ],
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+              0.005330547621147652,
+              0.004951199483011703,
+              -0.0023362088212373067
+            ],
+            "object_to_gripper_xy": 0.007275239807861886,
+            "object_to_gripper_z": -0.0023362088212373067,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30207522043945406,
+              0.13249389042953597,
+              1.0479072197010977
+            ],
+            "finger_b": [
+              0.2901414466815948,
+              0.15714773977961466,
+              1.0479072197010977
+            ],
+            "finger_midpoint": [
+              0.29610833356052446,
+              0.1448208151045753,
+              1.0479072197010977
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059668868789296,
+              0.012326924675039347,
+              0.0
+            ],
+            "finger_gap": 0.02739027644767657,
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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": 1.0479072197010977,
+            "object_top_z": 1.0944999296862428,
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+            "object_to_finger_line_xy": 0.010741529424364066,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048963645688228155,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9057121796015418,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3018168893767702,
+              0.15521408017373944,
+              1.2399359704446875
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+            "held_position": [
+              0.3074524297148377,
+              0.15974277572582896,
+              1.2374583934558296
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007642433253959071,
+            "max_held_gripper_dist": 0.007643912301468486,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002477576988857866,
+            "max_held_gripper_z_dist": 0.0025094408640680133,
+            "held_gripper_z_max_dist": 0.15,
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+                "beaker_b"
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+                "/World/target_beaker"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3137598244836457,
+              -0.33277684697492116,
+              0.8470195804477374
+            ],
+            "target_position": [
+              0.30589359914673625,
+              -0.33546102098502145,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00831157573312871,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1847431828294485,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195804477374,
+            "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": 0.07563582264588517,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08510572130932824,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1530544396300781,
+            "release_required_pad_clearance": 0.05255286065466412,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.172457513628186,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008035063743591309,
+            "max_z_decrease": 0.008035063743591309,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035138327644345685,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008035063743591309,
+            "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": 0.02107334902471963,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008035063743591309,
+            "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": 0.008035077651793057,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16159352660179138,
+              -0.3917224705219269,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16159352660179138,
+              -0.3917224705219269,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.161862353043514,
+              -0.3917479030567845,
+              0.8077945997729495
+            ],
+            "closest_button": [
+              0.16158214211463928,
+              -0.39172917604446406,
+              0.7726573944091797
+            ],
+            "closest_ee_minus_button": [
+              0.0002802109288747301,
+              -1.8727012320418623e-05,
+              0.03513720536376985
+            ],
+            "button_min_z_position": [
+              0.16157858073711395,
+              -0.39172282814979553,
+              0.7687737941741943
+            ],
+            "min_active_finger_to_button": 0.14586795526254318,
+            "closest_active_finger": [
+              0.020527951419353485,
+              -0.37726351618766785,
+              0.8106664419174194
+            ],
+            "closest_active_finger_button": [
+              0.16159376502037048,
+              -0.3917239308357239,
+              0.7764788269996643
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.141065813601017,
+              0.01446041464805603,
+              0.03418761491775513
+            ],
+            "min_contact_pad_to_button": 0.02107334902471963,
+            "closest_contact_pad": [
+              0.16157858073711395,
+              -0.39273461115588404,
+              0.7898228400971392
+            ],
+            "closest_contact_pad_button": [
+              0.16157858073711395,
+              -0.39172282814979553,
+              0.7687737941741943
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001011783006088507,
+              0.021049045922944876
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0ef9d9a0ed7a5c3dba93e2f1e79db41dd9aa2ad282fc99b17a658b2187722782",
+    "visual_seed": 70583953290332812,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8c2863f4f847b9236186520f66be6f738db34a9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_26_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+            "max_z_decrease_with_contact_point": 0.007828056812286377,
+            "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": 0.007828080142366797,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15426300466060633,
+              -0.3923961222171783,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15426300466060633,
+              -0.3923961222171783,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1558073644715692,
+              -0.39397883752515495,
+              0.8078992888803327
+            ],
+            "closest_button": [
+              0.1542534381151199,
+              -0.39240464568138117,
+              0.7727638483047485
+            ],
+            "closest_ee_minus_button": [
+              0.0015539263564492978,
+              -0.0015741918437737756,
+              0.035135440575584154
+            ],
+            "button_min_z_position": [
+              0.1542440205812454,
+              -0.392398327589035,
+              0.7689808011054993
+            ],
+            "min_active_finger_to_button": 0.14447440846362636,
+            "closest_active_finger": [
+              0.014857478439807892,
+              -0.3760310113430023,
+              0.8108182549476624
+            ],
+            "closest_active_finger_button": [
+              0.1542647778987884,
+              -0.39239907264709467,
+              0.7766050100326538
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1394072994589805,
+              0.01636806130409235,
+              0.034213244915008545
+            ],
+            "min_contact_pad_to_button": 0.021273684646952937,
+            "closest_contact_pad": [
+              0.1542440205812454,
+              -0.3953135091390996,
+              0.7900538021966624
+            ],
+            "closest_contact_pad_button": [
+              0.1542440205812454,
+              -0.392398327589035,
+              0.7689808011054993
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002915181550064594,
+              0.021073001091163168
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4be62af30142420c0365834705e2eed6861a41dfa6370cc81afbb5e4e1de9aab",
+    "visual_seed": 481325836601129171,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd6630149fa526b060c6b3bd5c93e218495598a0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_27_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30469640147902577,
+              0.15790652516334128,
+              1.0480416724437387
+            ],
+            "current_z": 1.0480416724437387,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19145510543052835,
+            "gripper_z": 1.051296636983737,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2989830532032878,
+              0.15267497191290502,
+              1.051296636983737
+            ],
+            "object_minus_gripper": [
+              0.005713348275737995,
+              0.005231553250436255,
+              -0.003254964539998406
+            ],
+            "object_to_gripper_xy": 0.007746708845182479,
+            "object_to_gripper_z": -0.003254964539998406,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30469640147902577,
+              0.132998691349143,
+              1.0480416724437387
+            ],
+            "finger_b": [
+              0.2923399126159124,
+              0.15790652516334128,
+              1.0480416724437387
+            ],
+            "finger_midpoint": [
+              0.2985181570474691,
+              0.14545260825624212,
+              1.0480416724437387
+            ],
+            "object_minus_finger_midpoint": [
+              0.006178244431556679,
+              0.012453916907099155,
+              0.0
+            ],
+            "finger_gap": 0.027804370202181596,
+            "fingertip_max_gap": 0.09257563205027167,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01390218510109081,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480416724437387,
+            "object_top_z": 1.093560228577029,
+            "finger_top_clearance": 0.045518556133290256,
+            "fingertip_min_top_clearance": 0.01365556683998711,
+            "object_projection_between_fingers": 0.8025013917495213,
+            "object_to_finger_line_xy": 0.011069244470974245,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048787816025135836,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7109761107960872,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3040834366505717,
+              0.15559028741858327,
+              1.2397149462266306
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+            "held_position": [
+              0.3101058865640499,
+              0.1603463464564705,
+              1.2362978773649875
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008400378571078403,
+            "max_held_gripper_dist": 0.00840268835911799,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003417068861643058,
+            "max_held_gripper_z_dist": 0.003451161632396449,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08699587132528291,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3101058865640499,
+              0.1345625513654975,
+              1.2362978773649875
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+            "held_grasp_finger_b": [
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+              0.1603463464564705,
+              1.2362978773649875
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+            "held_grasp_midpoint": [
+              0.3049319321919452,
+              0.147454448910984,
+              1.2362978773649875
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+            "held_grasp_object_position": [
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+              0.1603463464564705,
+              1.2362978773649875
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+            "held_grasp_finger_gap": 0.027782787921153084,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02530547445786042,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04366904988594202,
+              -0.9989746548227967,
+              0.011943747474445154
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004608659873470131,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032095604393714505,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.31251683294834554,
+              -0.33181894554123087,
+              0.8470193478579798
+            ],
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+              0.3036570708605871,
+              -0.3350609965453287,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009434313910659008,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18593580155103237,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193478579798,
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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": 0.15534921390773943,
+            "release_required_pad_clearance": 0.053028658374850726,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.088572203241121,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008035063743591309,
+            "max_z_decrease": 0.008035063743591309,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515519131828036,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008035063743591309,
+            "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": 0.02114498027965209,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008035063743591309,
+            "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": 0.008035079801735805,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15935699641704557,
+              -0.39132246375083923,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15935699641704557,
+              -0.39132246375083923,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16006760485853513,
+              -0.39230188155375156,
+              0.8077681336878026
+            ],
+            "closest_button": [
+              0.15934519469738004,
+              -0.39133051037788386,
+              0.7726337909698486
+            ],
+            "closest_ee_minus_button": [
+              0.0007224101611550959,
+              -0.0009713711758677079,
+              0.035134342717954015
+            ],
+            "button_min_z_position": [
+              0.15934093296527863,
+              -0.39132231473922724,
+              0.7687737941741943
+            ],
+            "min_active_finger_to_button": 0.145351176570804,
+            "closest_active_finger": [
+              0.018773086369037628,
+              -0.37739691138267517,
+              0.8106344938278198
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+            "closest_active_finger_button": [
+              0.1593572348356247,
+              -0.39132499694824213,
+              0.77644282579422
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14058414846658707,
+              0.013928085565566961,
+              0.034191668033599854
+            ],
+            "min_contact_pad_to_button": 0.02114498027965209,
+            "closest_contact_pad": [
+              0.15934093296527863,
+              -0.39333731589295245,
+              0.7898225461889187
+            ],
+            "closest_contact_pad_button": [
+              0.15934093296527863,
+              -0.39132231473922724,
+              0.7687737941741943
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020150011537252155,
+              0.021048752014724337
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b3931b7451d307899bc48bb619bf517d36315f0ada8326dde8ee509ce9a2a9b",
+    "visual_seed": 1916172849546229007,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f50cabd482b8adf5da8a935fb4ecc1a6857dd4c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_28_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.29947615172373376,
+              0.15640332210233554,
+              1.0460304292308542
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+            "current_z": 1.0460304292308542,
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18944398142693342,
+            "gripper_z": 1.0484926735654199,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.29437281117382597,
+              0.151456698980335,
+              1.0484926735654199
+            ],
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+              0.005103340549907798,
+              0.004946623122000532,
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+            ],
+            "object_to_gripper_xy": 0.007107261433171254,
+            "object_to_gripper_z": -0.0024622443345656553,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.29947615172373376,
+              0.13207850778156316,
+              1.0460304292308542
+            ],
+            "finger_b": [
+              0.2873305162135098,
+              0.15640332210233554,
+              1.0460304292308542
+            ],
+            "finger_midpoint": [
+              0.2934033339686218,
+              0.14424091494194935,
+              1.0460304292308542
+            ],
+            "object_minus_finger_midpoint": [
+              0.006072817755111981,
+              0.01216240716038619,
+              0.0
+            ],
+            "finger_gap": 0.02718847280902821,
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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": 1.092261554096031,
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+            "object_projection_between_fingers": 0.8004412108100812,
+            "object_to_finger_line_xy": 0.010866381891662323,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867794525233564,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8181545508981025,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
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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": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8b58a1687e5cd90a1e50b00d2e8b531fa00ed9ca3f7cc6a663d018d6c81cf4c9",
+    "visual_seed": 3837535296581662217,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c989af315dba41d81087304d58a62d5595d2138e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_29_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+          "skill": "pick",
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+              0.16021781619360032,
+              1.0441821210639362
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+            "lift_margin": 0.18759567326001536,
+            "gripper_z": 1.0474751469185086,
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+            "gripper_position": [
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+              1.0474751469185086
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+              0.005145018263980838,
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+              1.0441821210639362
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+              0.14773823434788455,
+              1.0441821210639362
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
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+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                },
+                {
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+      },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.003450359339346898,
+            "max_held_gripper_z_dist": 0.00348592436045303,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
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+        "gripper": null,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15692562761916726,
+            "release_required_pad_clearance": 0.05320404135314381,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4292745765364363,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008029341697692871,
+            "max_z_decrease": 0.008029341697692871,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035147669859643065,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008029341697692871,
+            "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": 0.02112104216721212,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008029341697692871,
+            "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": 0.008029366626486031,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1566982865333557,
+              -0.39553961157798756,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1566982865333557,
+              -0.39553961157798756,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15724757306683826,
+              -0.3962000876131058,
+              0.8078013009301251
+            ],
+            "closest_button": [
+              0.15668651461601257,
+              -0.39554640650749195,
+              0.7726641893386841
+            ],
+            "closest_ee_minus_button": [
+              0.0005610584508256855,
+              -0.000653681105613868,
+              0.03513711159144106
+            ],
+            "button_min_z_position": [
+              0.15667828917503357,
+              -0.3955402672290801,
+              0.7687795162200928
+            ],
+            "min_active_finger_to_button": 0.1455278441030062,
+            "closest_active_finger": [
+              0.01603946089744568,
+              -0.3805343210697174,
+              0.8106615543365479
+            ],
+            "closest_active_finger_button": [
+              0.1566983163356781,
+              -0.3955416977405547,
+              0.776482343673706
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14065885543823242,
+              0.015007376670837291,
+              0.0341792106628418
+            ],
+            "min_contact_pad_to_button": 0.02112104216721212,
+            "closest_contact_pad": [
+              0.15667828917503357,
+              -0.3972797154123754,
+              0.7898288093732317
+            ],
+            "closest_contact_pad_button": [
+              0.15667828917503357,
+              -0.3955402672290801,
+              0.7687795162200928
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017394481832953002,
+              0.02104929315313897
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "718709fcea97bed77ec9495a45ee3e52099aad92a7a9c01625c073dd02312c1a",
+    "visual_seed": 767009372329388022,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..78b2e159ce34c425c6fd87a2e525afb4f9ed73b1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_2_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.30254205362914044,
+              0.16104357938462324,
+              1.0486826179248228
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+            "current_z": 1.0486826179248228,
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+            "lift_margin": 0.19209622972554663,
+            "gripper_z": 1.0509105113634838,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2975345732455611,
+              0.156203152548315,
+              1.0509105113634838
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+              0.0050074803835793436,
+              0.004840426836308254,
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+            "object_to_gripper_xy": 0.0069645237991972616,
+            "object_to_gripper_z": -0.0022278934386610327,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30254205362914044,
+              0.13667691350656092,
+              1.0486826179248228
+            ],
+            "finger_b": [
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+              0.16104357938462324,
+              1.0486826179248228
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+            "finger_midpoint": [
+              0.29661864756736656,
+              0.1488602464455921,
+              1.0486826179248228
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+            "object_minus_finger_midpoint": [
+              0.005923406061773884,
+              0.01218333293903115,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04886485295775013,
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+            "object_tilt_deg": 0.9088807627072311,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.15936116155235977,
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+              0.16374953566597583,
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007310885407739604,
+            "max_held_gripper_dist": 0.007317974389377136,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023699567288133494,
+            "max_held_gripper_z_dist": 0.0024011953142029085,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08681351757024695,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.308100016404338,
+              0.13833668371422622,
+              1.2382262851791892
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+                "fr3_joint5",
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+                "fr3_joint7",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
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+                "panda_joint3",
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+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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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": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.3067523945048387,
+              -0.3321862386011252,
+              0.8470194652851107
+            ],
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+              0.29964399361696575,
+              -0.33426517970708886,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007406170353480826,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18441339569640847,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194652851107,
+            "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": 0.07576917015710492,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08567915482485515,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15229513854454726,
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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": 0.723072144141032,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007806897163391113,
+            "max_z_decrease": 0.007806897163391113,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516789050133683,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007806897163391113,
+            "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": 0.021164925717795883,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007806897163391113,
+            "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": 0.007806920420581182,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15534391999244684,
+              -0.3905266523361205,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15534391999244684,
+              -0.3905266523361205,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15645098611401106,
+              -0.39140373248617294,
+              0.8079739432979265
+            ],
+            "closest_button": [
+              0.15533284842967982,
+              -0.3905338048934936,
+              0.7728345990180969
+            ],
+            "closest_ee_minus_button": [
+              0.0011181376843312496,
+              -0.0008699275926793426,
+              0.035139344279829565
+            ],
+            "button_min_z_position": [
+              0.1553249657154083,
+              -0.39052861928939814,
+              0.7690019607543945
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+            "min_active_finger_to_button": 0.14496991156276207,
+            "closest_active_finger": [
+              0.015356473624706268,
+              -0.3747032582759857,
+              0.8108696937561035
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+            "closest_active_finger_button": [
+              0.15534608066081995,
+              -0.3905282020568847,
+              0.7766826152801514
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13998960703611368,
+              0.015824943780898992,
+              0.03418707847595215
+            ],
+            "min_contact_pad_to_button": 0.021164925717795883,
+            "closest_contact_pad": [
+              0.1553249657154083,
+              -0.39261256664802724,
+              0.7900640414694208
+            ],
+            "closest_contact_pad_button": [
+              0.1553249657154083,
+              -0.39052861928939814,
+              0.7690019607543945
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020839473586291013,
+              0.021062080715026243
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fdecd47a734f8657ba88d71497b7bed09f8f85ed69cdd89f5e80ac29b7ebf1bd",
+    "visual_seed": 8857258823396579755,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..51ff3343551765f7d3b896f6855194879e014e2e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30897853971811384,
+              0.15761406211422543,
+              1.046479852057223
+            ],
+            "current_z": 1.046479852057223,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1898932850440126,
+            "gripper_z": 1.0491729647417476,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              -0.39029574394226074,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15780000609028833,
+              -0.38903579379799774,
+              0.8079837259298202
+            ],
+            "closest_button": [
+              0.15772700309753415,
+              -0.3903028666973114,
+              0.7728456258773804
+            ],
+            "closest_ee_minus_button": [
+              7.30029927541731e-05,
+              0.0012670728993136593,
+              0.03513810005243978
+            ],
+            "button_min_z_position": [
+              0.15771900117397303,
+              -0.39029809832572937,
+              0.7690388560295105
+            ],
+            "min_active_finger_to_button": 0.14552630984239265,
+            "closest_active_finger": [
+              0.03010820597410202,
+              -0.4513132572174072,
+              0.8108272552490234
+            ],
+            "closest_active_finger_button": [
+              0.1577404290437698,
+              -0.39029598236083984,
+              0.7766978740692139
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1276322230696678,
+              -0.06101727485656738,
+              0.03412938117980957
+            ],
+            "min_contact_pad_to_button": 0.02106862276259558,
+            "closest_contact_pad": [
+              0.15771900117397303,
+              -0.39029809832572937,
+              0.7901074787921061
+            ],
+            "closest_contact_pad_button": [
+              0.15771900117397303,
+              -0.39029809832572937,
+              0.7690388560295105
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02106862276259558
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1920f68642c8351a4cf8910ef6f4a976b127274936ce8f355dffc606cb7bb776",
+    "visual_seed": 5429814515857540034,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..218f3d611621b3b89a91e79ad9669f2122aa8539
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_31_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3036471839935401,
+              0.16679957434791418,
+              1.0456103603125766
+            ],
+            "current_z": 1.0456103603125766,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.18902379329936625,
+            "gripper_z": 1.0479746146781048,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2984540787489349,
+              0.16184129090237803,
+              1.0479746146781048
+            ],
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+              0.005193105244605201,
+              0.0049582834455361435,
+              -0.002364254365528229
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+            "object_to_gripper_xy": 0.007180035989312575,
+            "object_to_gripper_z": -0.002364254365528229,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3036471839935401,
+              0.14235912254199706,
+              1.0456103603125766
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+            "finger_b": [
+              0.2915579191540318,
+              0.16679957434791418,
+              1.0456103603125766
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+              0.29760255157378596,
+              0.15457934844495563,
+              1.0456103603125766
+            ],
+            "object_minus_finger_midpoint": [
+              0.00604463241975417,
+              0.012220225902958542,
+              0.0
+            ],
+            "finger_gap": 0.027266939850983087,
+            "fingertip_max_gap": 0.09472917840465886,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_top_z": 1.093015137922821,
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+            "object_projection_between_fingers": 0.8034255888844994,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04986458920232943,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5223613887658427,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.16544127690015345,
+              1.2389040368657456
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+              0.16996724119165302,
+              1.2364154244831906
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007556795579921466,
+            "max_held_gripper_dist": 0.0075587070240823425,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024886123825549333,
+            "max_held_gripper_z_dist": 0.002526632615321933,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0861725372461215,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.14456901210372336,
+              1.2364154244831906
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+              0.16996724119165302,
+              1.2364154244831906
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+              0.1572681266476882,
+              1.2364154244831906
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+            "held_grasp_object_position": [
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+              0.16996724119165302,
+              1.2364154244831906
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+            "held_grasp_finger_gap": 0.0273424344958954,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024677755240640295,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06426206889622069,
+              -0.9972538546143652,
+              0.036812171329168475
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004262905438877195,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03221062072781438,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              -0.330491368726322,
+              0.8470196302667623
+            ],
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+              0.30057726402463675,
+              -0.33233290445726915,
+              0.8084375599031817
+            ],
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+            "xy_threshold": 0.08,
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+            "gripper_away_ok": true,
+            "object_z": 0.8470196302667623,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "object_tilt_deg": 0.6644043113043867,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0077672600746154785,
+            "max_z_decrease": 0.0077672600746154785,
+            "final_z_decrease": -5.960464477539063e-08,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03527508628854357,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0077672600746154785,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02108145662137695,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0077672600746154785,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 5.960464477539063e-08,
+            "button_max_displacement": 0.007767282890823689,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1562771946191788,
+              -0.3885943591594695,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1562771946191788,
+              -0.3885943591594695,
+              0.7768089175224304
+            ],
+            "closest_ee": [
+              0.15887794936545083,
+              -0.38702789891195005,
+              0.8079755260625912
+            ],
+            "closest_button": [
+              0.15626621246337893,
+              -0.38860243558883656,
+              0.7728325128555298
+            ],
+            "closest_ee_minus_button": [
+              0.002611736902071893,
+              0.0015745366768865066,
+              0.03514301320706137
+            ],
+            "button_min_z_position": [
+              0.15625852346420294,
+              -0.3885967731475829,
+              0.7690415978431702
+            ],
+            "min_active_finger_to_button": 0.14318002900979293,
+            "closest_active_finger": [
+              0.03129892796278,
+              -0.44955116510391235,
+              0.810217559337616
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+            "closest_active_finger_button": [
+              0.15627768635749822,
+              -0.3885970711708068,
+              0.7760791778564453
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12497875839471823,
+              -0.06095409393310558,
+              0.034138381481170654
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+            "min_contact_pad_to_button": 0.02108145662137695,
+            "closest_contact_pad": [
+              0.15625852346420294,
+              -0.3885967731475829,
+              0.7901230544645471
+            ],
+            "closest_contact_pad_button": [
+              0.15625852346420294,
+              -0.3885967731475829,
+              0.7690415978431702
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108145662137695
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eeb56b101ee814ce9f7d48826e111bb3a32818c89b2b6af1b56e53a4890dce7f",
+    "visual_seed": 4371936201613240049,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a108df4b7ea3929234c2fa2516c3a5ccd2eed6d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_32_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.15725852188632272,
+              1.0455607397132958
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+            "lift_margin": 0.1889742323047302,
+            "gripper_z": 1.0482260688683915,
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+            "gripper_position": [
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+              0.15222420012088866,
+              1.0482260688683915
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+              0.005034321765434058,
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+            "object_to_gripper_z": -0.0026653291550957636,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30127374924574424,
+              0.1328061006802842,
+              1.0455607397132958
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+            "finger_b": [
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+              0.15725852188632272,
+              1.0455607397132958
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+            "finger_midpoint": [
+              0.29513813312282255,
+              0.14503231128330346,
+              1.0455607397132958
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+            "object_minus_finger_midpoint": [
+              0.006135616122921683,
+              0.01222621060301926,
+              0.0
+            ],
+            "finger_gap": 0.027358801941403582,
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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": 0.010967634483233147,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0115507713887677,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
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+    }
+  ],
+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
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+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dac19e9cc199d9cb26f139a2c797d992914a6714830c1738cc5043937370b510",
+    "visual_seed": 8815319204665311601,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      912408632159906142,
+      5099940445753200938,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..80fea9c0358b87c2872ef1e38a6bdedd767b3d4f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_33_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+              0.14209478664397818,
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+            "stable_success_frames": 218,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "desk",
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+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
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+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+            "release_min_pad_clearance": 0.15526916563143786,
+            "release_required_pad_clearance": 0.052683039861228395,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4187069429122111,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0077967047691345215,
+            "max_z_decrease": 0.0077967047691345215,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516506707287056,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0077967047691345215,
+            "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": 0.021054767322083556,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0077967047691345215,
+            "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": 0.007796726357430615,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15796318650245667,
+              -0.39055532217025757,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15796318650245667,
+              -0.39055532217025757,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15805600973733025,
+              -0.38929166379526337,
+              0.8080031518137037
+            ],
+            "closest_button": [
+              0.1579516977071762,
+              -0.3905617296695709,
+              0.7728611826896667
+            ],
+            "closest_ee_minus_button": [
+              0.00010431203015404122,
+              0.0012700658743075577,
+              0.035141969124037
+            ],
+            "button_min_z_position": [
+              0.157944917678833,
+              -0.39055702090263367,
+              0.7690121531486511
+            ],
+            "min_active_finger_to_button": 0.1454719296503992,
+            "closest_active_finger": [
+              0.031248725950717926,
+              -0.45333951711654663,
+              0.8108135461807251
+            ],
+            "closest_active_finger_button": [
+              0.1579662561416626,
+              -0.3905560374259949,
+              0.7767109870910645
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12671753019094467,
+              -0.06278347969055176,
+              0.034102559089660645
+            ],
+            "min_contact_pad_to_button": 0.021054767322083556,
+            "closest_contact_pad": [
+              0.157944917678833,
+              -0.39055702090263367,
+              0.7900669204707347
+            ],
+            "closest_contact_pad_button": [
+              0.157944917678833,
+              -0.39055702090263367,
+              0.7690121531486511
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021054767322083556
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "762f3ef06ed73c530e68f10173bdabce981cc48d9ee402b1598c4e735f10e931",
+    "visual_seed": 7590709711846572745,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f78b00394b8e1340e28d341da7fa11ff86ce10
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30768605251407843,
+              0.16315672845098195,
+              1.0488572560044631
+            ],
+            "current_z": 1.0488572560044631,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19227068899125277,
+            "gripper_z": 1.0510541064151473,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3021602876582235,
+              0.1580629736987284,
+              1.0510541064151473
+            ],
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+              0.005525764855854931,
+              0.005093754752253543,
+              -0.0021968504106841813
+            ],
+            "object_to_gripper_xy": 0.007515345282707044,
+            "object_to_gripper_z": -0.0021968504106841813,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30768605251407843,
+              0.138401691403079,
+              1.0488572560044631
+            ],
+            "finger_b": [
+              0.2955036549625818,
+              0.16315672845098195,
+              1.0488572560044631
+            ],
+            "finger_midpoint": [
+              0.3015948537383301,
+              0.15077920992703048,
+              1.0488572560044631
+            ],
+            "object_minus_finger_midpoint": [
+              0.006091198775748319,
+              0.01237751852395147,
+              0.0
+            ],
+            "finger_gap": 0.02759026403182395,
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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": 1.0488572560044631,
+            "object_top_z": 1.0959154824154362,
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+            "object_projection_between_fingers": 0.8050362711474887,
+            "object_to_finger_line_xy": 0.010930511660625284,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04985716280944706,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.535555508164761,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3071996514231228,
+              0.16127370942328462,
+              1.2396978262943144
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+            "held_position": [
+              0.31302786134642296,
+              0.1659430552930601,
+              1.2373475159804694
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007829098309065356,
+            "max_held_gripper_dist": 0.007831131203740207,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023503103138449166,
+            "max_held_gripper_z_dist": 0.002389134716654473,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08684656351535844,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31302786134642296,
+              0.14032310172614543,
+              1.2373475159804694
+            ],
+            "held_grasp_finger_b": [
+              0.302753379428481,
+              0.1659430552930601,
+              1.2373475159804694
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+            "held_grasp_midpoint": [
+              0.30789062038745196,
+              0.15313307850960278,
+              1.2373475159804694
+            ],
+            "held_grasp_object_position": [
+              0.31302786134642296,
+              0.1659430552930601,
+              1.2373475159804694
+            ],
+            "held_grasp_finger_gap": 0.027603387463370876,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
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+                "fr3_rightfinger",
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+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "desk",
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+                "ground",
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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": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3086033084763142,
+              -0.3335250781271801,
+              0.8470196554720991
+            ],
+            "target_position": [
+              0.30118883479694925,
+              -0.33594536352166876,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00779950006941282,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18759562527665793,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196554720991,
+            "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": 0.07565714350676428,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08599618291824183,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1557821182767555,
+            "release_required_pad_clearance": 0.05299809145912092,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0286849961860822,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007889330387115479,
+            "max_z_decrease": 0.007889330387115479,
+            "final_z_decrease": -5.960464477539063e-08,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03525338862117466,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007889330387115479,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021065201869060135,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007889330387115479,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 5.960464477539063e-08,
+            "button_max_displacement": 0.007889354293884394,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1568887680768967,
+              -0.39220681786537165,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1568887680768967,
+              -0.39220681786537165,
+              0.7768089175224304
+            ],
+            "closest_ee": [
+              0.15937982879062285,
+              -0.3910619475382487,
+              0.8079077074698992
+            ],
+            "closest_button": [
+              0.15687644481658938,
+              -0.3922136127948761,
+              0.7727621793746948
+            ],
+            "closest_ee_minus_button": [
+              0.002503383974033463,
+              0.00115166525662741,
+              0.035145528095204326
+            ],
+            "button_min_z_position": [
+              0.15686939656734472,
+              -0.39220821857452387,
+              0.7689195275306702
+            ],
+            "min_active_finger_to_button": 0.1434446763070757,
+            "closest_active_finger": [
+              0.03271365910768509,
+              -0.455401211977005,
+              0.8107108473777771
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+            "closest_active_finger_button": [
+              0.15688978135585788,
+              -0.39220878481864924,
+              0.7766024470329285
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12417612224817279,
+              -0.06319242715835577,
+              0.03410840034484863
+            ],
+            "min_contact_pad_to_button": 0.021065201869060135,
+            "closest_contact_pad": [
+              0.15686939656734472,
+              -0.39220821857452387,
+              0.7899847293997303
+            ],
+            "closest_contact_pad_button": [
+              0.15686939656734472,
+              -0.39220821857452387,
+              0.7689195275306702
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021065201869060135
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f98379d5fbb4b554d006a9a54b180c476c72529f494977b672dae02f6116c90a",
+    "visual_seed": 8553929341607101809,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3b358ee104b28ce39b0e6d88934ae91bdb8d3f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_35_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3072434062386642,
+              0.1645219729814909,
+              1.0457029293928655
+            ],
+            "current_z": 1.0457029293928655,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18911648158894467,
+            "gripper_z": 1.048452582510818,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3015927490436574,
+              0.15942815219102574,
+              1.048452582510818
+            ],
+            "object_minus_gripper": [
+              0.005650657195006792,
+              0.0050938207904651644,
+              -0.0027496531179524997
+            ],
+            "object_to_gripper_xy": 0.007607689332567227,
+            "object_to_gripper_z": -0.0027496531179524997,
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+              0.03513474430303398
+            ],
+            "button_min_z_position": [
+              0.15666894614696508,
+              -0.38917240500450123,
+              0.7690022587776184
+            ],
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+            "closest_active_finger": [
+              0.017566673457622528,
+              -0.37289246916770935,
+              0.8108351230621338
+            ],
+            "closest_active_finger_button": [
+              0.15668836236000067,
+              -0.38917294144630427,
+              0.7766090035438538
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13912168890237814,
+              0.016280472278594915,
+              0.03422611951828003
+            ],
+            "min_contact_pad_to_button": 0.021177047342173114,
+            "closest_contact_pad": [
+              0.15666894614696508,
+              -0.3911903338500663,
+              0.7900829441864679
+            ],
+            "closest_contact_pad_button": [
+              0.15666894614696508,
+              -0.38917240500450123,
+              0.7690022587776184
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020179288455650646,
+              0.021080685408849442
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "01b93322a110e16ceb4921e0580feb4d67d436d34f3d5eb55b79cbce1b356984",
+    "visual_seed": 1366299287289304124,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e19f950bb0ae6125afa6a989e569acadb960008
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_37_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3016009467080955,
+              0.1572826155947127,
+              1.0453800800782145
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+            "lift_margin": 0.1887935726696488,
+            "gripper_z": 1.0478276192352791,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29619377139772873,
+              0.1522338872960471,
+              1.0478276192352791
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+              0.005407175310366774,
+              0.005048728298665622,
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+            "object_to_gripper_z": -0.0024475391570646376,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3016009467080955,
+              0.13265513408871102,
+              1.0453800800782145
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+            "finger_b": [
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+              0.1572826155947127,
+              1.0453800800782145
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+            "finger_midpoint": [
+              0.29551388404398243,
+              0.14496887484171186,
+              1.0453800800782145
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+              0.006087062664113074,
+              0.012313740753000846,
+              0.0
+            ],
+            "finger_gap": 0.027472207280009608,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04939879758436384,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3608283367056273,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.1555423954568342,
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+              0.16014451173275943,
+              1.2372085594189213
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007791119241026447,
+            "max_held_gripper_dist": 0.007792136595421715,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002564021154952245,
+            "max_held_gripper_z_dist": 0.002597643254025561,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0876083942050325,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.1346174249987324,
+              1.2372085594189213
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+              0.1473809683657459,
+              1.2372085594189213
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+            "held_grasp_object_position": [
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+              0.16014451173275943,
+              1.2372085594189213
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024911753751311015,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9981101913159287,
+              0.027138197017132715
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0044453245915610055,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30872835705857443,
+              -0.3313379292001807,
+              0.8470195966687286
+            ],
+            "target_position": [
+              0.30139165927351225,
+              -0.3332672439359797,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007586131407977818,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18700314414629918,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195966687286,
+            "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": 0.07513097073247002,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852144036103674,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15630434604778065,
+            "release_required_pad_clearance": 0.052607201805183704,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.27695282746209104,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007773697376251221,
+            "max_z_decrease": 0.007773697376251221,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035159226136945006,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007773697376251221,
+            "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": 0.021062588975745544,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007773697376251221,
+            "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": 0.007773722849950259,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15709158778190613,
+              -0.38952869176864624,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15709158778190613,
+              -0.38952869176864624,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15814413871688823,
+              -0.3891904617492945,
+              0.808037876321211
+            ],
+            "closest_button": [
+              0.15708132088184357,
+              -0.38953524827957153,
+              0.772896409034729
+            ],
+            "closest_ee_minus_button": [
+              0.001062817835044666,
+              0.0003447865302770303,
+              0.03514146728648204
+            ],
+            "button_min_z_position": [
+              0.15707170963287354,
+              -0.38952964544296265,
+              0.7690351605415344
+            ],
+            "min_active_finger_to_button": 0.1450526579157823,
+            "closest_active_finger": [
+              0.03172937035560608,
+              -0.45402801036834717,
+              0.8108687996864319
+            ],
+            "closest_active_finger_button": [
+              0.15709573030471802,
+              -0.38952872157096863,
+              0.7767602801322937
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12536635994911194,
+              -0.06449928879737854,
+              0.034108519554138184
+            ],
+            "min_contact_pad_to_button": 0.021062588975745544,
+            "closest_contact_pad": [
+              0.15707170963287354,
+              -0.3901346339422556,
+              0.7900890590707124
+            ],
+            "closest_contact_pad_button": [
+              0.15707170963287354,
+              -0.38952964544296265,
+              0.7690351605415344
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006049884992929688,
+              0.02105389852917794
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "70544e192fd4c6f831fb10fbcb6943ce68d4148ec92f124cebb538f5cc1c3baa",
+    "visual_seed": 270761512992284458,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..943b160eb3b7de40fd3d56956ceca05ddefd6a3d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_38_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30400129109852747,
+              0.16449344601611404,
+              1.0460893958639161
+            ],
+            "current_z": 1.0460893958639161,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18950294805999535,
+            "gripper_z": 1.0490712637911241,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2984686913350372,
+              0.15948014109269382,
+              1.0490712637911241
+            ],
+            "object_minus_gripper": [
+              0.005532599763490298,
+              0.005013304923420225,
+              -0.002981867927208004
+            ],
+            "object_to_gripper_xy": 0.007466115884324484,
+            "object_to_gripper_z": -0.002981867927208004,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30400129109852747,
+              0.13953900348941156,
+              1.0460893958639161
+            ],
+            "finger_b": [
+              0.29218910625535377,
+              0.16449344601611404,
+              1.0460893958639161
+            ],
+            "finger_midpoint": [
+              0.2980951986769406,
+              0.1520162247527628,
+              1.0460893958639161
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059060924215868504,
+              0.01247722126335124,
+              0.0
+            ],
+            "finger_gap": 0.027608910021726676,
+            "fingertip_max_gap": 0.09249888089354988,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013804455010863338,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0460893958639161,
+            "object_top_z": 1.091652017839638,
+            "finger_top_clearance": 0.04556262197572192,
+            "fingertip_min_top_clearance": 0.013668786592716574,
+            "object_projection_between_fingers": 0.8169532821562702,
+            "object_to_finger_line_xy": 0.01067649854890323,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04874944044677494,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5342364100055734,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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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": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
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+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6cd66331f09e722d94534ae1426246f9d984d1c18b63ce2effa46ce23104d1bb",
+    "visual_seed": 6721437067883674566,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      912408632159906142,
+      5099940445753200938,
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+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..76f02e8d5b8759af215da87e974b9be518b8c48a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.16014218797483987,
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+              0.0,
+              1.0
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+            "stable_success_frames": 218,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
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+                {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15323932076044172,
+            "release_required_pad_clearance": 0.052701725159061394,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007851362228393555,
+            "max_z_decrease": 0.007851362228393555,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035141472070174325,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007851362228393555,
+            "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": 0.021064688088107554,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007851362228393555,
+            "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": 0.007851386422889933,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1543218493461608,
+              -0.3951480388641357,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1543218493461608,
+              -0.3951480388641357,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15412801945711047,
+              -0.39490016468040523,
+              0.8079853559509356
+            ],
+            "closest_button": [
+              0.15430930256843556,
+              -0.3951539993286132,
+              0.7728452682495117
+            ],
+            "closest_ee_minus_button": [
+              -0.00018128311132509234,
+              0.0002538346482079956,
+              0.03514008770142385
+            ],
+            "button_min_z_position": [
+              0.15430235862731922,
+              -0.39514821767807007,
+              0.7689574956893921
+            ],
+            "min_active_finger_to_button": 0.14615759947495663,
+            "closest_active_finger": [
+              0.027026087045669556,
+              -0.4583529531955719,
+              0.8107859492301941
+            ],
+            "closest_active_finger_button": [
+              0.15432378649711598,
+              -0.3951490521430969,
+              0.7766889333724976
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12729769945144642,
+              -0.06320390105247498,
+              0.03409701585769653
+            ],
+            "min_contact_pad_to_button": 0.021064688088107554,
+            "closest_contact_pad": [
+              0.15430235862731922,
+              -0.3960169683190278,
+              0.7900042616303412
+            ],
+            "closest_contact_pad_button": [
+              0.15430235862731922,
+              -0.39514821767807007,
+              0.7689574956893921
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000868750640957705,
+              0.02104676594094912
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "678487d0442189507223e5413962102cad9541748b54e3d47a8770d643f88382",
+    "visual_seed": 289636384602749364,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cc6573865c8b69005997eac5bb4075819118182
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_3_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3045305368383741,
+              0.165310587059299,
+              1.0475611706625643
+            ],
+            "current_z": 1.0475611706625643,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19097472285864348,
+            "gripper_z": 1.049624293040678,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2993223920764755,
+              0.16028431410879534,
+              1.049624293040678
+            ],
+            "object_minus_gripper": [
+              0.005208144761898625,
+              0.005026272950503646,
+              -0.002063122378113791
+            ],
+            "object_to_gripper_xy": 0.007237968750544363,
+            "object_to_gripper_z": -0.002063122378113791,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3045305368383741,
+              0.14093177383979055,
+              1.0475611706625643
+            ],
+            "finger_b": [
+              0.2922520760400764,
+              0.165310587059299,
+              1.0475611706625643
+            ],
+            "finger_midpoint": [
+              0.2983913064392253,
+              0.15312118044954476,
+              1.0475611706625643
+            ],
+            "object_minus_finger_midpoint": [
+              0.006139230399148821,
+              0.012189406609754233,
+              0.0
+            ],
+            "finger_gap": 0.027296284244691854,
+            "fingertip_max_gap": 0.09257685152719478,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013648142122345927,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475611706625643,
+            "object_top_z": 1.0938529644288861,
+            "finger_top_clearance": 0.046291793766321865,
+            "fingertip_min_top_clearance": 0.013887538129896558,
+            "object_projection_between_fingers": 0.7976604442844348,
+            "object_to_finger_line_xy": 0.010966119041750726,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04878842576359739,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9220568403563241,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30456154457735035,
+              0.1633818937556636,
+              1.2388083271310224
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+            "held_position": [
+              0.3101626658259179,
+              0.1678989262862598,
+              1.2366008737096117
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0075265525130246095,
+            "max_held_gripper_dist": 0.00753211117136586,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00220745342141071,
+            "max_held_gripper_z_dist": 0.002243555432402955,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0873932523592405,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3101626658259179,
+              0.14236760444408345,
+              1.2366008737096117
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+            "held_grasp_finger_b": [
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+              0.1678989262862598,
+              1.2366008737096117
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+            "held_grasp_midpoint": [
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+              0.15513326536517164,
+              1.2366008737096117
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+            "held_grasp_object_position": [
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+              0.1678989262862598,
+              1.2366008737096117
+            ],
+            "held_grasp_finger_gap": 0.027401207666288417,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02466784798224139,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07817334308717247,
+              -0.9966415297719683,
+              0.02438420727368551
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint2",
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+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
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+                "link0",
+                "table",
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+            },
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+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3056861780621736,
+              -0.3366264655925442,
+              0.8470192298414676
+            ],
+            "target_position": [
+              0.29830580485906744,
+              -0.33883545763686523,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00770386620269334,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18585324492244756,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192298414676,
+            "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": 0.07565130656370338,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08501044864309669,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15393943957102743,
+            "release_required_pad_clearance": 0.05250522432154835,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07909654688635061,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007901430130004883,
+            "max_z_decrease": 0.007901430130004883,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351496519270879,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007901430130004883,
+            "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": 0.021087341045415348,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007901430130004883,
+            "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": 0.007901456275224946,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15400573611259455,
+              -0.3950969278812408,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15400573611259455,
+              -0.3950969278812408,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15489534815086622,
+              -0.3954180575182899,
+              0.8079028269180971
+            ],
+            "closest_button": [
+              0.1539932340383529,
+              -0.3951022028923034,
+              0.7727661728858948
+            ],
+            "closest_ee_minus_button": [
+              0.0009021141125133136,
+              -0.00031585462598648917,
+              0.03513665403220234
+            ],
+            "button_min_z_position": [
+              0.15398541092872617,
+              -0.3950971662998199,
+              0.7689074277877808
+            ],
+            "min_active_finger_to_button": 0.14523940848853265,
+            "closest_active_finger": [
+              0.013551600277423859,
+              -0.3810115158557892,
+              0.8107796907424927
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+            "closest_active_finger_button": [
+              0.15400575101375577,
+              -0.39509847760200495,
+              0.776593804359436
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1404541507363319,
+              0.014086961746215765,
+              0.03418588638305664
+            ],
+            "min_contact_pad_to_button": 0.021087341045415348,
+            "closest_contact_pad": [
+              0.15398541092872617,
+              -0.3963568750764267,
+              0.7899571091669323
+            ],
+            "closest_contact_pad_button": [
+              0.15398541092872617,
+              -0.3950971662998199,
+              0.7689074277877808
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001259708776606805,
+              0.02104968137915153
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c54ac2339d9ec8c59d28e20c787baf1519436e9de9f3277671c2d6ba1c3d0ab",
+    "visual_seed": 3922913713123932228,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..25976f72533478ec600fe1e4a60c766a13184038
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_40_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3019297029796479,
+              0.16156185168961604,
+              1.0465668875645884
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+            "current_z": 1.0465668875645884,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.1899803801560227,
+            "gripper_z": 1.048922226408079,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29663146517376277,
+              0.156642389510274,
+              1.048922226408079
+            ],
+            "object_minus_gripper": [
+              0.00529823780588512,
+              0.004919462179342027,
+              -0.0023553388434907063
+            ],
+            "object_to_gripper_xy": 0.007229967633515863,
+            "object_to_gripper_z": -0.0023553388434907063,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3019297029796479,
+              0.13687802375131558,
+              1.0465668875645884
+            ],
+            "finger_b": [
+              0.2901054338676081,
+              0.16156185168961604,
+              1.0465668875645884
+            ],
+            "finger_midpoint": [
+              0.29601756842362803,
+              0.14921993772046582,
+              1.0465668875645884
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+              0.16164968907833094,
+              -0.3962517850291541,
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+            "closest_contact_pad_button": [
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+              -0.3931697309017182,
+              0.7690701484680176
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003082054127435896,
+              0.021016070567618783
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "df8c6dd12b5d218cd3dbc3d9f37c3fab52bba07dce1114e1aefcad188a814f7a",
+    "visual_seed": 4456377965496196100,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..323abf468f0a86c65cd15eeb8a407890caed0b1f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_43_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.16137704608239425,
+              1.0469709958367472
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+              0.15628309156016484,
+              1.0501038664145839
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+              0.00509395452222941,
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+            "object_to_gripper_z": -0.0031328705778366217,
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+              0.1363998104866989,
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+              0.14888842828454657,
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+              1.0
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+            "stable_success_frames": 219,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30627213314707935,
+              -0.3348485324650038,
+              0.8470197269095341
+            ],
+            "target_position": [
+              0.29824436419287365,
+              -0.3381460720600363,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008678642852596018,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1865596223359136,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197269095341,
+            "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": 0.07587545827540877,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08758488213099729,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15436038704281527,
+            "release_required_pad_clearance": 0.053792441065498645,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.593881637790933,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007814288139343262,
+            "max_z_decrease": 0.007814288139343262,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035173271061489396,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007814288139343262,
+            "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": 0.021189766755275515,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007814288139343262,
+            "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": 0.007814305849725284,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15394428372383118,
+              -0.3944075405597687,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15394428372383118,
+              -0.3944075405597687,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15316577986012544,
+              -0.3961616681306952,
+              0.8080202641414996
+            ],
+            "closest_button": [
+              0.1539326161146164,
+              -0.39441192150115967,
+              0.7728989124298096
+            ],
+            "closest_ee_minus_button": [
+              -0.000766836254490949,
+              -0.0017497466295355313,
+              0.03512135171169006
+            ],
+            "button_min_z_position": [
+              0.15392771363258362,
+              -0.3944060504436493,
+              0.7689945697784424
+            ],
+            "min_active_finger_to_button": 0.14672999017644459,
+            "closest_active_finger": [
+              0.011757910251617432,
+              -0.3824104368686676,
+              0.8109416365623474
+            ],
+            "closest_active_finger_button": [
+              0.15394547581672668,
+              -0.3944094479084015,
+              0.7767596244812012
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14218756556510925,
+              0.011999011039733887,
+              0.03418201208114624
+            ],
+            "min_contact_pad_to_button": 0.021189766755275515,
+            "closest_contact_pad": [
+              0.15392771363258362,
+              -0.3971263686126597,
+              0.7900089953999608
+            ],
+            "closest_contact_pad_button": [
+              0.15392771363258362,
+              -0.3944060504436493,
+              0.7689945697784424
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002720318169010416,
+              0.02101442562151845
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "06935690b79de4ec47317f017541cfb22f3855d1a195a72046f4da557d6340c8",
+    "visual_seed": 2370527208594995210,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..23bf298d3777bdbf288a431b9c00649e34696cfb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_44_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30291654881689095,
+              0.16393496579946434,
+              1.0487664434069475
+            ],
+            "current_z": 1.0487664434069475,
+            "required_z": 0.8565864478039206,
+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.1921799956030269,
+            "gripper_z": 1.0509054734690566,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29774712371461254,
+              0.15900186328818017,
+              1.0509054734690566
+            ],
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+              0.005169425102278413,
+              0.004933102511284176,
+              -0.0021390300621091374
+            ],
+            "object_to_gripper_xy": 0.007145520014309976,
+            "object_to_gripper_z": -0.0021390300621091374,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30291654881689095,
+              0.13947112223524608,
+              1.0487664434069475
+            ],
+            "finger_b": [
+              0.2909140260041027,
+              0.16393496579946434,
+              1.0487664434069475
+            ],
+            "finger_midpoint": [
+              0.29691528741049683,
+              0.1517030440173552,
+              1.0487664434069475
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060012614063941205,
+              0.012231921782109134,
+              0.0
+            ],
+            "finger_gap": 0.02724959074566159,
+            "fingertip_max_gap": 0.0918949507005539,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013624795372830794,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487664434069475,
+            "object_top_z": 1.0948366519139634,
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+            "fingertip_min_top_clearance": 0.013821062552104779,
+            "object_projection_between_fingers": 0.8059895549289141,
+            "object_to_finger_line_xy": 0.01077549542701886,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04844747535027695,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6202285158788953,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f66cac0061639314ac63ed63f14882a3772268db599a48bf81e8d08b2a482dbf",
+    "visual_seed": 3913760685086112385,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      912408632159906142,
+      5099940445753200938,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..23b02e3136f08f4cf518c28fb262967054062a0d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_45_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.15849087799570805,
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+              0.13354601569089558,
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+              0.1460184468433018,
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+              1.0
+            ],
+            "stable_success_frames": 217,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.15683663725793862,
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+              0.16149080077908076,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 1.5328556519231775,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007867753505706787,
+            "max_z_decrease": 0.007867753505706787,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035151490234065,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007867753505706787,
+            "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": 0.02105733722728254,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007867753505706787,
+            "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": 0.00786777390733077,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1599321365356445,
+              -0.38876977562904347,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1599321365356445,
+              -0.38876977562904347,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16012542847179279,
+              -0.3879053340402504,
+              0.8079396479238232
+            ],
+            "closest_button": [
+              0.1599212735891342,
+              -0.388776659965515,
+              0.772799551486969
+            ],
+            "closest_ee_minus_button": [
+              0.00020415488265859705,
+              0.000871325925264621,
+              0.03514009643685423
+            ],
+            "button_min_z_position": [
+              0.1599143147468567,
+              -0.38877162337303156,
+              0.7689411044120789
+            ],
+            "min_active_finger_to_button": 0.14555808528587783,
+            "closest_active_finger": [
+              0.03347557783126831,
+              -0.45226889848709106,
+              0.8107504844665527
+            ],
+            "closest_active_finger_button": [
+              0.15993307530879972,
+              -0.38877168297767634,
+              0.77663654088974
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1264574974775314,
+              -0.06349721550941473,
+              0.034113943576812744
+            ],
+            "min_contact_pad_to_button": 0.02105733722728254,
+            "closest_contact_pad": [
+              0.1599143147468567,
+              -0.3889031041482397,
+              0.7899980311562467
+            ],
+            "closest_contact_pad_button": [
+              0.1599143147468567,
+              -0.38877162337303156,
+              0.7689411044120789
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00013148077520813706,
+              0.021056926744167814
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "85508526da86881171ea2c4c2ac6e72f2275d7fc0dfec6a00381d233a2bb4ec5",
+    "visual_seed": 7226564708777906331,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..82771512ae57fa3695608efded0af215d479aa1a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3071315417376237,
+              0.16374912525009924,
+              1.0474531472269502
+            ],
+            "current_z": 1.0474531472269502,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1908666398183846,
+            "gripper_z": 1.0495177366675819,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3018663492349658,
+              0.15879303232574687,
+              1.0495177366675819
+            ],
+            "object_minus_gripper": [
+              0.005265192502657889,
+              0.004956092924352368,
+              -0.0020645894406317034
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+            "object_to_gripper_xy": 0.007230844291288566,
+            "object_to_gripper_z": -0.0020645894406317034,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3071315417376237,
+              0.1391983886876041,
+              1.0474531472269502
+            ],
+            "finger_b": [
+              0.2951210846182864,
+              0.16374912525009924,
+              1.0474531472269502
+            ],
+            "finger_midpoint": [
+              0.301126313177955,
+              0.15147375696885168,
+              1.0474531472269502
+            ],
+            "object_minus_finger_midpoint": [
+              0.006005228559668674,
+              0.012275368281247562,
+              0.0
+            ],
+            "finger_gap": 0.027331113149238473,
+            "fingertip_max_gap": 0.09381960235870149,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013665556574619236,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474531472269502,
+            "object_top_z": 1.0941921980305773,
+            "finger_top_clearance": 0.04673905080362717,
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+            "object_projection_between_fingers": 0.8068901467624932,
+            "object_to_finger_line_xy": 0.010788641030532259,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049409801179350746,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2954535764081831,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3069101937573384,
+              0.16205602373998898,
+              1.2415326337889
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+            "held_position": [
+              0.3125041869372329,
+              0.16658325231447618,
+              1.23935411960089
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007518941569777049,
+            "max_held_gripper_dist": 0.007520413569818426,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021785141880101833,
+            "max_held_gripper_z_dist": 0.0022159442364382276,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08761036539460028,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3125041869372329,
+              0.1411243768979101,
+              1.23935411960089
+            ],
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+              0.30237354615396117,
+              0.16658325231447618,
+              1.23935411960089
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+            "held_grasp_midpoint": [
+              0.30743886654559704,
+              0.15385381460619313,
+              1.23935411960089
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+            "held_grasp_object_position": [
+              0.3125041869372329,
+              0.16658325231447618,
+              1.23935411960089
+            ],
+            "held_grasp_finger_gap": 0.02740044197008365,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024822821672250705,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0575481168408888,
+              -0.9979160727259753,
+              0.02918434585927021
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004340663574495088,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03220581483021663,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+                "beaker_b"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31057402842235715,
+              -0.33553628135524305,
+              0.8470193392283971
+            ],
+            "target_position": [
+              0.3028010966245082,
+              -0.3381610310322018,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008204131861489439,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18788060575739848,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193392283971,
+            "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": 0.07532394782488899,
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+            "release_fingertip_min_gap": 0.08549040631555353,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1567676187408998,
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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": 0.5410392916985076,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007927000522613525,
+            "max_z_decrease": 0.007927000522613525,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351509126383431,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007927000522613525,
+            "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": 0.021055749675767413,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007927000522613525,
+            "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": 0.007927024144809013,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15850102901458737,
+              -0.3944225013256073,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15850102901458737,
+              -0.3944225013256073,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15861018772461793,
+              -0.3936008694966581,
+              0.8078861939290946
+            ],
+            "closest_button": [
+              0.15849082171916962,
+              -0.39442947506904596,
+              0.7727452516555786
+            ],
+            "closest_ee_minus_button": [
+              0.0001193660054483181,
+              0.0008286055723878416,
+              0.03514094227351594
+            ],
+            "button_min_z_position": [
+              0.15848173201084134,
+              -0.39442396163940424,
+              0.7688818573951721
+            ],
+            "min_active_finger_to_button": 0.1456580741195121,
+            "closest_active_finger": [
+              0.03169108182191849,
+              -0.45744386315345764,
+              0.8107020258903503
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+            "closest_active_finger_button": [
+              0.15850158035755155,
+              -0.3944244682788849,
+              0.7765856385231018
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12681049853563306,
+              -0.06301939487457275,
+              0.034116387367248535
+            ],
+            "min_contact_pad_to_button": 0.021055749675767413,
+            "closest_contact_pad": [
+              0.15848173201084134,
+              -0.39463748548475175,
+              0.7899365243831833
+            ],
+            "closest_contact_pad_button": [
+              0.15848173201084134,
+              -0.39442396163940424,
+              0.7688818573951721
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00021352384534750746,
+              0.021054666988011173
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0dff425bcd1c76467cdd68950a435f3d9789bf2ba3b6b5ace7388bce48ab1b6c",
+    "visual_seed": 4698983451780217840,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b704bdbb09754324dbdc28d00ea1200c13bf8d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_47_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.16422647828959056,
+              1.0470714994848762
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+            "current_z": 1.0470714994848762,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19048493247166587,
+            "gripper_z": 1.049437778340401,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2948185142642335,
+              0.15920562955574757,
+              1.049437778340401
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+            "object_minus_gripper": [
+              0.0053428789044640546,
+              0.005020848733842981,
+              -0.0023662788555247616
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+            "object_to_gripper_xy": 0.007331799028608168,
+            "object_to_gripper_z": -0.0023662788555247616,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30016139316869755,
+              0.13962388534561765,
+              1.0470714994848762
+            ],
+            "finger_b": [
+              0.2880515635016866,
+              0.16422647828959056,
+              1.0470714994848762
+            ],
+            "finger_midpoint": [
+              0.2941064783351921,
+              0.15192518181760412,
+              1.0470714994848762
+            ],
+            "object_minus_finger_midpoint": [
+              0.006054914833505454,
+              0.01230129647198644,
+              0.0
+            ],
+            "finger_gap": 0.02742144332690831,
+            "fingertip_max_gap": 0.0915865150702673,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01371072166345413,
+            "object_to_finger_midpoint_z": 0.0,
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+              0.16304454207420352,
+              -0.3948620021132548,
+              0.7899942725132053
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+              0.16304454207420352,
+              -0.39195477962493896,
+              0.7689555287361145
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029072224883158193,
+              0.021038743777090807
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "af90fb6fa2d8d3fc0053f7134422ad8f694d86035b8df9f1298364c61f9d30db",
+    "visual_seed": 3128747304207924488,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..42036a0d774aaca9a03c7f66d9a6e11d446ec752
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_48_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.16410077797371447,
+              1.0484828438651208
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+              0.15905234576378868,
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+              0.0050484322099257906,
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+              0.1396420443558465,
+              1.0484828438651208
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+              1.0484828438651208
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+              0.15187141116478048,
+              1.0484828438651208
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04874961314173133,
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+              1.0
+            ],
+            "stable_success_frames": 221,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+        },
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
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+            "target_position": [
+              0.3049136314347801,
+              -0.3333639666245087,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009192297260330034,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1865949706822589,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195089268151,
+            "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": 0.07561419235308106,
+            "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": 0.1549978163214753,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007615208625793457,
+            "max_z_decrease": 0.007615208625793457,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351641773763202,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007615208625793457,
+            "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": 0.0212038951572872,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007615208625793457,
+            "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": 0.00761523007220603,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16061355173587796,
+              -0.3896254301071167,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16061355173587796,
+              -0.3896254301071167,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16142388910489144,
+              -0.3908104882226802,
+              0.8082365770746172
+            ],
+            "closest_button": [
+              0.16060549020767206,
+              -0.3896336555480957,
+              0.7731016278266907
+            ],
+            "closest_ee_minus_button": [
+              0.0008183988972193801,
+              -0.001176832674584516,
+              0.035134949247926484
+            ],
+            "button_min_z_position": [
+              0.16059564054012299,
+              -0.3896278440952301,
+              0.7691936492919922
+            ],
+            "min_active_finger_to_button": 0.14525082503914405,
+            "closest_active_finger": [
+              0.020263150334358215,
+              -0.37454304099082947,
+              0.8106496334075928
+            ],
+            "closest_active_finger_button": [
+              0.16061481833457947,
+              -0.3896282613277435,
+              0.7764202952384949
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14035166800022125,
+              0.015085220336914007,
+              0.0342293381690979
+            ],
+            "min_contact_pad_to_button": 0.0212038951572872,
+            "closest_contact_pad": [
+              0.16059564054012299,
+              -0.39199522868222925,
+              0.7902649724601861
+            ],
+            "closest_contact_pad_button": [
+              0.16059564054012299,
+              -0.3896278440952301,
+              0.7691936492919922
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002367384586999144,
+              0.021071323168193934
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "188a2bae46b353f5e65e9c3ea9a6190e81a61fd2f72644fe85fac3aa017da968",
+    "visual_seed": 2927643940342978122,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..281b0582d2066dd196d4bfbb27955ca1352f4bc2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_49_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3048388969221514,
+              0.16004461840591674,
+              1.0474099011624582
+            ],
+            "current_z": 1.0474099011624582,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.1908233937538929,
+            "gripper_z": 1.0506514943461776,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2991455682143415,
+              0.15485095986928626,
+              1.0506514943461776
+            ],
+            "object_minus_gripper": [
+              0.005693328707809864,
+              0.00519365853663048,
+              -0.0032415931837193046
+            ],
+            "object_to_gripper_xy": 0.007706366249425639,
+            "object_to_gripper_z": -0.0032415931837193046,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3048388969221514,
+              0.13510834019196666,
+              1.0474099011624582
+            ],
+            "finger_b": [
+              0.2925937321983654,
+              0.16004461840591674,
+              1.0474099011624582
+            ],
+            "finger_midpoint": [
+              0.2987163145602584,
+              0.1475764792989417,
+              1.0474099011624582
+            ],
+            "object_minus_finger_midpoint": [
+              0.006122582361893003,
+              0.012468139106975057,
+              0.0
+            ],
+            "finger_gap": 0.027780605289953186,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013890302644976605,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474099011624582,
+            "object_top_z": 1.0929760922477725,
+            "finger_top_clearance": 0.045566191085314234,
+            "fingertip_min_top_clearance": 0.013669857325594269,
+            "object_projection_between_fingers": 0.8057120547132957,
+            "object_to_finger_line_xy": 0.010991439212391948,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048778640410121296,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5885701719524914,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1569b907661558f8b287c39a5b2b44b7469d4bbe9c3480be07e6af7d838fcc57",
+    "visual_seed": 5396744150959889284,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      912408632159906142,
+      5099940445753200938,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dae3814b82afc2459f172a7644fde4513fe6aa5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_51_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.15930388384387142,
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+              1.049429581948695
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+              0.13436660842718112,
+              1.0462221478574463
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+              1.0462221478574463
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+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.16209563656964346,
+              1.235067742070718
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+              0.14926370352130391,
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+            "held_grasp_world_z_skew": 0.0,
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+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 2.3768889395779267,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
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+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+              "enabled": true
+            },
+            "status": "active",
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007968366146087646,
+            "max_z_decrease": 0.007968366146087646,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516727564469842,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007968366146087646,
+            "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": 0.02112128971619064,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007968366146087646,
+            "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": 0.00796838828401255,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15400770306587225,
+              -0.39611491560935974,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15400770306587225,
+              -0.39611491560935974,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15547730827533215,
+              -0.396224418709658,
+              0.8078050092738721
+            ],
+            "closest_button": [
+              0.15399636328220373,
+              -0.39612275362014765,
+              0.7726690769195557
+            ],
+            "closest_ee_minus_button": [
+              0.0014809449931284246,
+              -0.00010166508951037212,
+              0.035135932354316446
+            ],
+            "button_min_z_position": [
+              0.15398901700973516,
+              -0.39611682295799255,
+              0.768840491771698
+            ],
+            "min_active_finger_to_button": 0.14471185906054937,
+            "closest_active_finger": [
+              0.014524467289447784,
+              -0.37835320830345154,
+              0.8107009530067444
+            ],
+            "closest_active_finger_button": [
+              0.1540082395076752,
+              -0.39611753821372986,
+              0.7764923572540283
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13948377221822741,
+              0.01776432991027832,
+              0.034208595752716064
+            ],
+            "min_contact_pad_to_button": 0.02112128971619064,
+            "closest_contact_pad": [
+              0.15398901700973516,
+              -0.3975494692086152,
+              0.7899131376424907
+            ],
+            "closest_contact_pad_button": [
+              0.15398901700973516,
+              -0.39611682295799255,
+              0.768840491771698
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014326462506226711,
+              0.021072645870792717
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2a5a1e31fa238f253fc4d4f87c6e8818ac582fa5e9df6aa50f29164896b221b9",
+    "visual_seed": 6647603413540849156,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeebb8dd445c789412e6eeae3b8c84fd562524d0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_52_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30511103479651464,
+              0.16360802160632298,
+              1.0468515762125263
+            ],
+            "current_z": 1.0468515762125263,
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+            "initial_z": 0.7565866266178549,
+            "lift_margin": 0.19026494959467144,
+            "gripper_z": 1.049110543278414,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2998963710905549,
+              0.1586529336003462,
+              1.049110543278414
+            ],
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+              0.005214663705959743,
+              0.004955088005976771,
+              -0.002258967065887685
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+            "object_to_gripper_xy": 0.0071934424800111285,
+            "object_to_gripper_z": -0.002258967065887685,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30511103479651464,
+              0.13914106995452716,
+              1.0468515762125263
+            ],
+            "finger_b": [
+              0.29303661650363055,
+              0.16360802160632298,
+              1.0468515762125263
+            ],
+            "finger_midpoint": [
+              0.29907382565007257,
+              0.15137454578042508,
+              1.0468515762125263
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060372091464420685,
+              0.0122334758258979,
+              0.0
+            ],
+            "finger_gap": 0.027284121760519402,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010827697192842692,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049377047686990125,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2146868817693057,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.16178920476642056,
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+            "held_position": [
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+              0.1662823561192331,
+              1.2370418581092593
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007538317331431538,
+            "max_held_gripper_dist": 0.007540927369838734,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023960142555448094,
+            "max_held_gripper_z_dist": 0.0024309872902390506,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0873767340506739,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.14079668737773016,
+              1.2370418581092593
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+              0.15353952174848162,
+              1.2370418581092593
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+            "held_grasp_object_position": [
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+              0.1662823561192331,
+              1.2370418581092593
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+            "held_grasp_finger_gap": 0.02736222559536211,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024734363887864194,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06827093478241845,
+              -0.9971973453091229,
+              0.030602842553805742
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004116684567286911,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032153165697288454,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30729964990276915,
+              -0.33609929119903886,
+              0.8470196281361044
+            ],
+            "target_position": [
+              0.30087385847694964,
+              -0.33780733100516086,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0066489243812388734,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18574316231149843,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196281361044,
+            "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": 0.07554396063193838,
+            "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": 0.1539760559883099,
+            "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": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00785064697265625,
+            "max_z_decrease": 0.00785064697265625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035188387019724404,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00785064697265625,
+            "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": 0.021059956281051617,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00785064697265625,
+            "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": 0.007850668599473575,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15657378733158112,
+              -0.39406877756118774,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15657378733158112,
+              -0.39406877756118774,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15708941523213077,
+              -0.39236256709875483,
+              0.8079750700814603
+            ],
+            "closest_button": [
+              0.15656280517578125,
+              -0.39407527446746826,
+              0.7728323340415955
+            ],
+            "closest_ee_minus_button": [
+              0.0005266100563495191,
+              0.0017127073687134287,
+              0.03514273603986484
+            ],
+            "button_min_z_position": [
+              0.15655544400215152,
+              -0.3940705358982086,
+              0.7689582109451294
+            ],
+            "min_active_finger_to_button": 0.1449304438998065,
+            "closest_active_finger": [
+              0.02978050708770752,
+              -0.4554215371608734,
+              0.8107990026473999
+            ],
+            "closest_active_finger_button": [
+              0.1565760225057602,
+              -0.39406993985176086,
+              0.7766857743263245
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12679551541805267,
+              -0.06135159730911255,
+              0.03411322832107544
+            ],
+            "min_contact_pad_to_button": 0.021059956281051617,
+            "closest_contact_pad": [
+              0.15655544400215152,
+              -0.3940705358982086,
+              0.790018167226181
+            ],
+            "closest_contact_pad_button": [
+              0.15655544400215152,
+              -0.3940705358982086,
+              0.7689582109451294
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021059956281051617
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c5f51f19c1dd2af4e87f370194ffb4cef5b425e64a1e718382f0263d5f8c3a6",
+    "visual_seed": 5833792188981180515,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d36f0d4a29c0b6c941f8787192601dcd3d8e2bf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_53_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3086064220751653,
+              0.1611272848067029,
+              1.046724001147895
+            ],
+            "current_z": 1.046724001147895,
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1901375533439743,
+            "gripper_z": 1.0488845383399437,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3028755393736604,
+              0.1559767335285263,
+              1.0488845383399437
+            ],
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+              0.005730882701504902,
+              0.005150551278176596,
+              -0.0021605371920485616
+            ],
+            "object_to_gripper_xy": 0.00770527059924145,
+            "object_to_gripper_z": -0.0021605371920485616,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3086064220751653,
+              0.13620552900893765,
+              1.046724001147895
+            ],
+            "finger_b": [
+              0.2963751084265571,
+              0.1611272848067029,
+              1.046724001147895
+            ],
+            "finger_midpoint": [
+              0.3024907652508612,
+              0.1486664069078203,
+              1.046724001147895
+            ],
+            "object_minus_finger_midpoint": [
+              0.006115656824304094,
+              0.012460877898882616,
+              0.0
+            ],
+            "finger_gap": 0.02776146512009183,
+            "fingertip_max_gap": 0.09395056621615192,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013880732560045902,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046724001147895,
+            "object_top_z": 1.0928960082453525,
+            "finger_top_clearance": 0.04617200709745739,
+            "fingertip_min_top_clearance": 0.01385160212923725,
+            "object_projection_between_fingers": 0.8058839519347895,
+            "object_to_finger_line_xy": 0.010980177397621357,
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2d48c6e38657b65de9cae286c503dd6541cbb88bd7d77b773725cd3f99a63162",
+    "visual_seed": 8296676673934079292,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa4c41836e69afe37bda044750b61ae8b0bf88eb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_54_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.15726084132075194,
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+              0.3002737379513261,
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+              1.0489801099339913
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+              0.005022222053699427,
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+              0.1449748136867518,
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+            "fingertip_xy_max_dist": 0.055,
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+            "fingertip_line_xy_max_dist": 0.049093403641239,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
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+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "max_held_gripper_z_dist": 0.002450088136716877,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "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": 0.07548678928539132,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854297764900576,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15314970150752608,
+            "release_required_pad_clearance": 0.052714888245028804,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4829487801214438,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007910668849945068,
+            "max_z_decrease": 0.007910668849945068,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518165242391874,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007910668849945068,
+            "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": 0.021202559702304734,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007910668849945068,
+            "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": 0.00791069099125061,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1551423519849777,
+              -0.3935639560222625,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1551423519849777,
+              -0.3935639560222625,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1549419180111137,
+              -0.3954483941848897,
+              0.807953287203587
+            ],
+            "closest_button": [
+              0.15513134002685547,
+              -0.39356899261474604,
+              0.772822380065918
+            ],
+            "closest_ee_minus_button": [
+              -0.00018942201574176365,
+              -0.0018794015701436573,
+              0.035130907137668976
+            ],
+            "button_min_z_position": [
+              0.15512363612651822,
+              -0.39356410503387446,
+              0.7688981890678406
+            ],
+            "min_active_finger_to_button": 0.14615892766767688,
+            "closest_active_finger": [
+              0.01353520154953003,
+              -0.3817138671875,
+              0.8108548521995544
+            ],
+            "closest_active_finger_button": [
+              0.1551433503627777,
+              -0.3935649991035461,
+              0.7766625285148621
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14160814881324768,
+              0.011851131916046087,
+              0.03419232368469238
+            ],
+            "min_contact_pad_to_button": 0.021202559702304734,
+            "closest_contact_pad": [
+              0.15512363612651822,
+              -0.3963262209363085,
+              0.7899200646661624
+            ],
+            "closest_contact_pad_button": [
+              0.15512363612651822,
+              -0.39356410503387446,
+              0.7688981890678406
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002762115902434026,
+              0.021021875598321804
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "30515f6ab0c9aad3b49aad969c3a4eb068a88dca417b09e0b0f32de24f3e21af",
+    "visual_seed": 7075736430430889161,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..103dbc72b6df9ab1c9b5292350bbe00e39e8ee49
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_55_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3080457933278611,
+              0.1533201267451399,
+              1.00272303936639
+            ],
+            "current_z": 1.00272303936639,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.14613659156246916,
+            "gripper_z": 1.048864853003391,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30302780523703426,
+              0.14694637559994753,
+              1.048864853003391
+            ],
+            "object_minus_gripper": [
+              0.005017988090826819,
+              0.006373751145192369,
+              -0.046141813637001095
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+            "object_to_gripper_xy": 0.008112022444527679,
+            "object_to_gripper_z": -0.046141813637001095,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3080457933278611,
+              0.1269992047446109,
+              1.0352911447439548
+            ],
+            "finger_b": [
+              0.2963653944867495,
+              0.1533201267451399,
+              1.0353798929382052
+            ],
+            "finger_midpoint": [
+              0.3022055939073053,
+              0.1401596657448754,
+              1.03533551884108
+            ],
+            "object_minus_finger_midpoint": [
+              0.005840199420555803,
+              0.013160461000264495,
+              -0.03261247947469004
+            ],
+            "finger_gap": 0.028796363108687096,
+            "fingertip_max_gap": 0.10291281314198439,
+            "finger_z_skew": 8.874819425042091e-05,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014398113175390139,
+            "object_to_finger_midpoint_z": 0.03261247947469004,
+            "finger_midpoint_minus_object_z": 0.03261247947469004,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.00272303936639,
+            "object_top_z": 1.0517391525301605,
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+            "fingertip_min_top_clearance": 0.014704833949131123,
+            "object_projection_between_fingers": 0.8354703447247649,
+            "object_to_finger_line_xy": 0.010676359571803292,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.053956406570992196,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.958960848587346,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 192,
+            "max_stable_success_frames": 192,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+    "visual_seed": 6865001243545476755,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9070d3be7aa93c86fe2391d4cc54caddd5ece25
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_59_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+              0.141822060007634,
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "dummy_base_prismatic_y_joint",
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+          "failure_messages": {},
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "object_tilt_deg": 0.27411209722139224,
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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": {},
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
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+            },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0079878568649292,
+            "max_z_decrease": 0.0079878568649292,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521418754189291,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0079878568649292,
+            "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": 0.02107094984146923,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.0079878568649292,
+            "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": 0.00798787897664834,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1633867174386978,
+              -0.39502632617950434,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1633867174386978,
+              -0.39502632617950434,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16547228528134222,
+              -0.3941982406026569,
+              0.8080348772801015
+            ],
+            "closest_button": [
+              0.16337789595127103,
+              -0.39503347873687733,
+              0.772892951965332
+            ],
+            "closest_ee_minus_button": [
+              0.0020943893300711947,
+              0.0008352381342204285,
+              0.03514192531476945
+            ],
+            "button_min_z_position": [
+              0.16336801648139954,
+              -0.3950282037258147,
+              0.7688210010528564
+            ],
+            "min_active_finger_to_button": 0.14395263491371751,
+            "closest_active_finger": [
+              0.03872387111186981,
+              -0.4583851099014282,
+              0.8109606504440308
+            ],
+            "closest_active_finger_button": [
+              0.16338646411895752,
+              -0.39502820372581476,
+              0.7767919301986694
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12466259300708771,
+              -0.06335690617561346,
+              0.03416872024536133
+            ],
+            "min_contact_pad_to_button": 0.02107094984146923,
+            "closest_contact_pad": [
+              0.16336801648139954,
+              -0.39523855915836004,
+              0.7898909008583541
+            ],
+            "closest_contact_pad_button": [
+              0.16336801648139954,
+              -0.3950282037258147,
+              0.7688210010528564
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002103554325453283,
+              0.02106989980549767
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "081e37d7657f34b1d792d931c3f088927598e4378e135f8b2a1f661477ea6c25",
+    "visual_seed": 7672107940542015574,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0abcce29fc0df23b7c428e5ee35084527ca3e0ed
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_5_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30092531549928797,
+              0.15614936851026795,
+              1.0459647242105985
+            ],
+            "current_z": 1.0459647242105985,
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+            "lift_margin": 0.1893782764066777,
+            "gripper_z": 1.0483038891949505,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2957854346447615,
+              0.15122382154585323,
+              1.0483038891949505
+            ],
+            "object_minus_gripper": [
+              0.005139880854526491,
+              0.004925546964414718,
+              -0.002339164984352049
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+            "object_to_gripper_xy": 0.0071189457152996335,
+            "object_to_gripper_z": -0.002339164984352049,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30092531549928797,
+              0.13172020635984777,
+              1.0459647242105985
+            ],
+            "finger_b": [
+              0.2889161822412937,
+              0.15614936851026795,
+              1.0459647242105985
+            ],
+            "finger_midpoint": [
+              0.29492074887029085,
+              0.14393478743505786,
+              1.0459647242105985
+            ],
+            "object_minus_finger_midpoint": [
+              0.006004566628997121,
+              0.01221458107521009,
+              0.0
+            ],
+            "finger_gap": 0.02722137478122269,
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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": 0.04837736781213263,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5825741917087252,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.15437938613715246,
+              1.2382279451978881
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+              0.158839059677958,
+              1.2357507328600785
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+            "object_initial_z": 0.7730800627579277,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0074925697139581575,
+            "max_held_gripper_dist": 0.00749998067479928,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00247721233780962,
+            "max_held_gripper_z_dist": 0.00250693178090855,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0865648923068729,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.1333713558702494,
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+              0.14610520777410368,
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+            "held_grasp_object_position": [
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+              1.2357507328600785
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+            "held_grasp_finger_gap": 0.02730847834733992,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02464798030046168,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0752892569837313,
+              -0.996951400587183,
+              0.020480054933811668
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003964339566326395,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "fr3_rightfinger",
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+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3134820608294311,
+              -0.3316681543444767,
+              0.8470194635539561
+            ],
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+              0.3053712329955939,
+              -0.33439943039532966,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00855835247089714,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18728555100004102,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194635539561,
+            "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": 0.0755346527035832,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08534454814809571,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15570815753613504,
+            "release_required_pad_clearance": 0.052672274074047856,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4015378689674976,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007631480693817139,
+            "max_z_decrease": 0.007631480693817139,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518715997896519,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007631480693817139,
+            "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": 0.021208161888699402,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007631480693817139,
+            "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": 0.007631500984918474,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16107116639614105,
+              -0.3906608819961548,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16107116639614105,
+              -0.3906608819961548,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16066303091827416,
+              -0.392506446079677,
+              0.8082477509649597
+            ],
+            "closest_button": [
+              0.16106167435646057,
+              -0.39066773653030396,
+              0.7731109261512756
+            ],
+            "closest_ee_minus_button": [
+              -0.0003986434381864079,
+              -0.001838709549373041,
+              0.035136824813684076
+            ],
+            "button_min_z_position": [
+              0.16105356812477112,
+              -0.39066082239151,
+              0.7691773772239685
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+            "min_active_finger_to_button": 0.1463664505819236,
+            "closest_active_finger": [
+              0.019300557672977448,
+              -0.3781680166721344,
+              0.8106060028076172
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+            "closest_active_finger_button": [
+              0.1610705405473709,
+              -0.3906640410423279,
+              0.7764261960983276
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.14176998287439346,
+              0.012496024370193481,
+              0.03417980670928955
+            ],
+            "min_contact_pad_to_button": 0.021208161888699402,
+            "closest_contact_pad": [
+              0.16105356812477112,
+              -0.3935407280100025,
+              0.7901890947721809
+            ],
+            "closest_contact_pad_button": [
+              0.16105356812477112,
+              -0.39066082239151,
+              0.7691773772239685
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028799056184924954,
+              0.021011717548212405
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "66f4b76e7ccb9c1ca9a1e51c3cc43e18d844e337809e21ecdbaf3c1cac293a13",
+    "visual_seed": 8305924446397354217,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7503e0a4e9d849a14e0a264b6c1bad728c7f89e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_60_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3004296074188492,
+              0.1583322884899002,
+              1.0467219455735277
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+            "lift_margin": 0.19013537856031726,
+            "gripper_z": 1.0491810247502418,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29529307412768646,
+              0.15339041032392425,
+              1.0491810247502418
+            ],
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+              0.005136533291162759,
+              0.004941878165975938,
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+            "object_to_gripper_xy": 0.007127842174078564,
+            "object_to_gripper_z": -0.002459079176714063,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3004296074188492,
+              0.1339490662352778,
+              1.0467219455735277
+            ],
+            "finger_b": [
+              0.28833262134423787,
+              0.1583322884899002,
+              1.0467219455735277
+            ],
+            "finger_midpoint": [
+              0.2943811143815436,
+              0.146140677362589,
+              1.0467219455735277
+            ],
+            "object_minus_finger_midpoint": [
+              0.006048493037305647,
+              0.01219161112731118,
+              0.0
+            ],
+            "finger_gap": 0.027219085208868673,
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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": 1.0467219455735277,
+            "object_top_z": 1.0931640948085974,
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+            "fingertip_min_top_clearance": 0.013932644770520919,
+            "object_projection_between_fingers": 0.8024817127032196,
+            "object_to_finger_line_xy": 0.010836642664692288,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048765236398459186,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8838615615402654,
+            "object_max_tilt_deg": 15.0,
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+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2e28e035539b60bc0f607f7edfc87def7f1d94c1ea5e9d38c480253401d9756f",
+    "visual_seed": 509002364176016288,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..58395185e56cfea77192f0b2bd95008126d4ae26
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_62_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.16142647342186334,
+              1.0468564374822993
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+            "lift_margin": 0.1902700492830235,
+            "gripper_z": 1.0491533247693765,
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+              0.15640806226091716,
+              1.0491533247693765
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+              0.0050184111609461735,
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+            "fingertip_source": "active_contact_pad_positions",
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+              0.13681334334960416,
+              1.0468564374822993
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+              1.0468564374822993
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+              0.14911990838573375,
+              1.0468564374822993
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+              0.01230656503612959,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04841588007455509,
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+              0.0,
+              1.0
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+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08638865226340436,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075301369941501,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08558377881050903,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15584894271090557,
+            "release_required_pad_clearance": 0.05279188940525452,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6293142207655542,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007708311080932617,
+            "max_z_decrease": 0.007708311080932617,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03528343720478281,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007708311080932617,
+            "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": 0.021070140304503826,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007708311080932617,
+            "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": 0.007708334250740689,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1553381979465484,
+              -0.3976329267024994,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1553381979465484,
+              -0.3976329267024994,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1578058303171926,
+              -0.39579855961096316,
+              0.80820405412373
+            ],
+            "closest_button": [
+              0.15532928705215449,
+              -0.3976401686668396,
+              0.7730558514595032
+            ],
+            "closest_ee_minus_button": [
+              0.002476543265038128,
+              0.0018416090558764364,
+              0.0351482026642268
+            ],
+            "button_min_z_position": [
+              0.1553193479776382,
+              -0.39763429760932917,
+              0.769100546836853
+            ],
+            "min_active_finger_to_button": 0.14318643597794564,
+            "closest_active_finger": [
+              0.03034929931163788,
+              -0.4585891366004944,
+              0.8105003237724304
+            ],
+            "closest_active_finger_button": [
+              0.15533855557441706,
+              -0.3976358771324157,
+              0.7763720154762268
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12498925626277918,
+              -0.06095325946807867,
+              0.03412830829620361
+            ],
+            "min_contact_pad_to_button": 0.021070140304503826,
+            "closest_contact_pad": [
+              0.1553193479776382,
+              -0.39763429760932917,
+              0.7901706871413569
+            ],
+            "closest_contact_pad_button": [
+              0.1553193479776382,
+              -0.39763429760932917,
+              0.769100546836853
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021070140304503826
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eb59d186ea4832f0aa8662de714fbf4559b4919f3cd3ecf8823e37f091b59528",
+    "visual_seed": 5348438948896832555,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1294088c574a357ce2abd749debfa22d1c6bf97
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_63_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3056267640003318,
+              0.16397704661015894,
+              1.0172993505979606
+            ],
+            "current_z": 1.0172993505979606,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.16071278358475027,
+            "gripper_z": 1.047947868880999,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29911397692902625,
+              0.15841897472547767,
+              1.047947868880999
+            ],
+            "object_minus_gripper": [
+              0.006512787071305537,
+              0.0055580718846812704,
+              -0.030648518283038273
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+            "object_to_gripper_xy": 0.008562041725631157,
+            "object_to_gripper_z": -0.030648518283038273,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3056267640003318,
+              0.1385361417971542,
+              1.0343834171816466
+            ],
+            "finger_b": [
+              0.29268191168748475,
+              0.16397704661015894,
+              1.0344723768292658
+            ],
+            "finger_midpoint": [
+              0.29915433784390827,
+              0.15125659420365656,
+              1.0344278970054561
+            ],
+            "object_minus_finger_midpoint": [
+              0.006472426156423516,
+              0.01272045240650238,
+              -0.017128546407495504
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+            "finger_gap": 0.028544995234273438,
+            "fingertip_max_gap": 0.09976229190801786,
+            "finger_z_skew": 8.895964761923558e-05,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.017128546407495504,
+            "finger_midpoint_minus_object_z": 0.017128546407495504,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0172993505979606,
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+            "finger_top_clearance": 0.031138862973805637,
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+            "object_projection_between_fingers": 0.7943453809542371,
+            "object_to_finger_line_xy": 0.011537236286191306,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05238114595400893,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.168112205743062,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 193,
+            "max_stable_success_frames": 193,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b9aa2e60053b3159b1bbbd17dceb005eaaf05af
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_64_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.15669698427774154,
+              1.0456250840553054
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+              0.15155767966804307,
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+              0.00513930460969847,
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+            "fingertip_source": "active_contact_pad_positions",
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+              0.13213436741597406,
+              1.0456250840553054
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+              1.0456250840553054
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+              0.1444156758468578,
+              1.0456250840553054
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+              0.012281308430883736,
+              0.0
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+              0.0,
+              1.0
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+            "stable_success_frames": 217,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.1543389187813449,
+              1.2376818237743776
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+              0.1589650195571961,
+              1.2351328319543504
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+            "held_shake_count": 5,
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+              0.1461355678792875,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            },
+            "failed_keys": []
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+      "physical_semantics": {
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.2511509619459467,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+                "floor",
+                "ground",
+                "groundplane",
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+              ],
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+        },
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+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007885575294494629,
+            "max_z_decrease": 0.007885575294494629,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514807079581463,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007885575294494629,
+            "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": 0.021149786010611887,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007885575294494629,
+            "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": 0.00788559650535921,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1542066931724548,
+              -0.39563608169555664,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1542066931724548,
+              -0.39563608169555664,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15482187810710307,
+              -0.39630736143134776,
+              0.8078880963116313
+            ],
+            "closest_button": [
+              0.15419551730155942,
+              -0.39564403891563416,
+              0.7727518677711487
+            ],
+            "closest_ee_minus_button": [
+              0.000626360805543652,
+              -0.0006633225157136047,
+              0.035136228540482595
+            ],
+            "button_min_z_position": [
+              0.1541884690523147,
+              -0.3956376314163208,
+              0.768923282623291
+            ],
+            "min_active_finger_to_button": 0.14546756627440668,
+            "closest_active_finger": [
+              0.013794690370559692,
+              -0.3790283203125,
+              0.8107806444168091
+            ],
+            "closest_active_finger_button": [
+              0.15420743823051447,
+              -0.3956384658813476,
+              0.7765874266624451
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14041274785995478,
+              0.0166101455688476,
+              0.034193217754364014
+            ],
+            "min_contact_pad_to_button": 0.021149786010611887,
+            "closest_contact_pad": [
+              0.1541884690523147,
+              -0.3975585524817605,
+              0.789985654535187
+            ],
+            "closest_contact_pad_button": [
+              0.1541884690523147,
+              -0.3956376314163208,
+              0.768923282623291
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019209210654396736,
+              0.021062371911895972
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a582156a1c9f6e5d5fc7e7e9746dd08ad2f673a1c9910a65a0b407299ca4e92a",
+    "visual_seed": 8028106609416325788,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0f3cd2461d65dfc0abdc8b2d335c0403102f0ce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_65_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3077282197787131,
+              0.15891647804910872,
+              1.0456276730732954
+            ],
+            "current_z": 1.0456276730732954,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.18904110606008506,
+            "gripper_z": 1.0476595995039037,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3028361797140901,
+              0.1541305644279743,
+              1.0476595995039037
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+              0.0048920400646230155,
+              0.004785913621134424,
+              -0.002031926430608344
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+            "object_to_gripper_xy": 0.006843758118375954,
+            "object_to_gripper_z": -0.002031926430608344,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3077282197787131,
+              0.13465871265805107,
+              1.0456276730732954
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+            "finger_b": [
+              0.29591864080723596,
+              0.15891647804910872,
+              1.0456276730732954
+            ],
+            "finger_midpoint": [
+              0.30182343029297454,
+              0.14678759535357988,
+              1.0456276730732954
+            ],
+            "object_minus_finger_midpoint": [
+              0.005904789485738582,
+              0.012128882695528836,
+              0.0
+            ],
+            "finger_gap": 0.02697972085198714,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_top_z": 1.0926872653754955,
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+            "object_projection_between_fingers": 0.8084006967029073,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04946992199604093,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3650094699205004,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30791990037687883,
+              0.15708087066278917,
+              1.237538758032764
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+            "held_position": [
+              0.3131576233819136,
+              0.16141798750942618,
+              1.2353705097807295
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0071376204228932975,
+            "max_held_gripper_dist": 0.00713940713328085,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021682482520344326,
+            "max_held_gripper_z_dist": 0.002198693877597302,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08737429147190097,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3131576233819136,
+              0.1360635774385614,
+              1.2353705097807295
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+            "held_grasp_finger_b": [
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+            "held_grasp_midpoint": [
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+              0.1487407824739938,
+              1.2353705097807295
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+            "held_grasp_object_position": [
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+              0.16141798750942618,
+              1.2353705097807295
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+            "held_grasp_finger_gap": 0.027109458697808727,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024574699284020955,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07269547468866773,
+              -0.9967599357540496,
+              0.03442380623016928
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038888027380429707,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03221531445450425,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.311651967775252,
+              -0.33494190638672006,
+              0.8470189214253399
+            ],
+            "target_position": [
+              0.30587993163097554,
+              -0.33613548131685855,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005894151538999399,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18565076817869774,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470189214253399,
+            "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": 0.0755974529030429,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08521220012333434,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15359778583651462,
+            "release_required_pad_clearance": 0.052606100061667174,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.27123045558104275,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007681846618652344,
+            "max_z_decrease": 0.007681846618652344,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035144973147026484,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007681846618652344,
+            "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": 0.021128623434806232,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007681846618652344,
+            "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": 0.00768187184681561,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16157986223697662,
+              -0.39239692687988276,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16157986223697662,
+              -0.39239692687988276,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16042828169047318,
+              -0.3929662877525628,
+              0.8081445408923793
+            ],
+            "closest_button": [
+              0.16157333552837372,
+              -0.39240497350692743,
+              0.7730227112770081
+            ],
+            "closest_ee_minus_button": [
+              -0.0011450538379005337,
+              -0.0005613142456353803,
+              0.03512182961537125
+            ],
+            "button_min_z_position": [
+              0.16156022250652313,
+              -0.3923982977867126,
+              0.7691270112991333
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+            "min_active_finger_to_button": 0.14721405165322446,
+            "closest_active_finger": [
+              0.01936599612236023,
+              -0.37583285570144653,
+              0.8105705976486206
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+            "closest_active_finger_button": [
+              0.16158123314380646,
+              -0.39239999651908875,
+              0.7763312458992004
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.14221523702144623,
+              0.016567140817642212,
+              0.034239351749420166
+            ],
+            "min_contact_pad_to_button": 0.021128623434806232,
+            "closest_contact_pad": [
+              0.16156022250652313,
+              -0.3943185974451544,
+              0.7901681894380026
+            ],
+            "closest_contact_pad_button": [
+              0.16156022250652313,
+              -0.3923982977867126,
+              0.7691270112991333
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019202996584418153,
+              0.0210411781388693
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d14d2f3f531511c27792847a9d0cefcaabb89f031dad6a6ce0a65ad69b920b75",
+    "visual_seed": 3911146706042759225,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..db89b3c5b8bb3a38518488008a707be090272a5c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_67_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+            "active_arm": null,
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+              0.15647905191333256,
+              1.0485135031834176
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+            "lift_margin": 0.19192705537949684,
+            "gripper_z": 1.0509726104069086,
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+            "gripper_position": [
+              0.29544379666596704,
+              0.15159900376445554,
+              1.0509726104069086
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+              0.005215526225387068,
+              0.00488004814887702,
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+            "object_to_gripper_z": -0.002459107223490964,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3006593228913541,
+              0.13188909817711691,
+              1.0485135031834176
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+            "finger_b": [
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+              0.15647905191333256,
+              1.0485135031834176
+            ],
+            "finger_midpoint": [
+              0.2947551927194459,
+              0.14418407504522474,
+              1.0485135031834176
+            ],
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+              0.005904130171908217,
+              0.01229497686810782,
+              0.0
+            ],
+            "finger_gap": 0.02727821176500713,
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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": 0.8126127462893162,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6024732068403886,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ac21416fc72e461c37cd5ac6dcc0339e3a069188622c18679ba621bbc2f0c833",
+    "visual_seed": 1990357679702546114,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a19930bf4b0aea4c5810443b500cde742377f4b9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_68_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+          "skill": "pick",
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+              0.1636322110173556,
+              1.0466467933886556
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+              0.1583869310875839,
+              1.0499008559457472
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+              0.005245279929771696,
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+              0.13868803057444606,
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+              0.15116012079590083,
+              1.0466467933886556
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
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+            "release_min_pad_clearance": 0.1570899812369142,
+            "release_required_pad_clearance": 0.05308903978075992,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2046180682002987,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007559716701507568,
+            "max_z_decrease": 0.007559716701507568,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514524537396877,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007559716701507568,
+            "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": 0.021103295032843673,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007559716701507568,
+            "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": 0.007559736903949771,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15499959886074066,
+              -0.38897192478179926,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15499959886074066,
+              -0.38897192478179926,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15542595150929311,
+              -0.3893616870190724,
+              0.8082015882819875
+            ],
+            "closest_button": [
+              0.15498854219913483,
+              -0.3889783024787903,
+              0.7730611562728882
+            ],
+            "closest_ee_minus_button": [
+              0.00043740931015828766,
+              -0.000383384540282139,
+              0.03514043200909933
+            ],
+            "button_min_z_position": [
+              0.15498216450214386,
+              -0.38897314667701716,
+              0.7692491412162781
+            ],
+            "min_active_finger_to_button": 0.14568424762201063,
+            "closest_active_finger": [
+              0.014141343533992767,
+              -0.3743138015270233,
+              0.8105106949806213
+            ],
+            "closest_active_finger_button": [
+              0.15499940514564514,
+              -0.3889736831188202,
+              0.7763347625732422
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14085806161165237,
+              0.014659881591796875,
+              0.03417593240737915
+            ],
+            "min_contact_pad_to_button": 0.021103295032843673,
+            "closest_contact_pad": [
+              0.15498216450214386,
+              -0.39039973988607124,
+              0.7903041618303531
+            ],
+            "closest_contact_pad_button": [
+              0.15498216450214386,
+              -0.38897314667701716,
+              0.7692491412162781
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014265932090540834,
+              0.02105502061407505
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "94f4d22c08631732fc04f58e95bc5a76274c7ff8e0f37e70dcce7c3a7623416f",
+    "visual_seed": 7863757990417761199,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f01408602f36723984b9095c229fb2904b000eeb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3040459772427604,
+              0.16112748200557642,
+              1.0460716177071996
+            ],
+            "current_z": 1.0460716177071996,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.18948522950792346,
+            "gripper_z": 1.0483342598552081,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29862102006310076,
+              0.15607370939333987,
+              1.0483342598552081
+            ],
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+              0.0054249571796596285,
+              0.005053772612236551,
+              -0.0022626421480085313
+            ],
+            "object_to_gripper_xy": 0.0074142280796676875,
+            "object_to_gripper_z": -0.0022626421480085313,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3040459772427604,
+              0.13648924358501563,
+              1.0460716177071996
+            ],
+            "finger_b": [
+              0.291860094915801,
+              0.16112748200557642,
+              1.0460716177071996
+            ],
+            "finger_midpoint": [
+              0.2979530360792807,
+              0.14880836279529602,
+              1.0460716177071996
+            ],
+            "object_minus_finger_midpoint": [
+              0.006092941163479693,
+              0.012319119210280394,
+              0.0
+            ],
+            "finger_gap": 0.027487060966114564,
+            "fingertip_max_gap": 0.09158510769394526,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013743530483057282,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0460716177071996,
+            "object_top_z": 1.091809008108092,
+            "finger_top_clearance": 0.04573739040089242,
+            "fingertip_min_top_clearance": 0.013721217120267725,
+            "object_projection_between_fingers": 0.8034571050362334,
+            "object_to_finger_line_xy": 0.01092290931018967,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04829255384697263,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5629896282871973,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3035499074697755,
+              0.159443786489581,
+              1.2382205641072392
+            ],
+            "held_position": [
+              0.30928567317122235,
+              0.1640665796367154,
+              1.2358142240569463
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+                "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",
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+                "wrist_3_joint"
+              ],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.3114071314326034,
+              -0.33906063523629537,
+              0.8470199295386138
+            ],
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+              0.30441449020656486,
+              -0.34132690831887513,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007350715951587259,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18825517453479831,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199295386138,
+            "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": 0.07588861105521526,
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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,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0726373935990678,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007976114749908447,
+            "max_z_decrease": 0.007976114749908447,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035245477740130565,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007976114749908447,
+            "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": 0.021098494882913155,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007976114749908447,
+            "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": 0.00797613954300935,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16011442244052887,
+              -0.3975883722305298,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16011442244052887,
+              -0.3975883722305298,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16204739952100033,
+              -0.39591379779383734,
+              0.804551360054601
+            ],
+            "closest_button": [
+              0.1600957214832306,
+              -0.3975908160209656,
+              0.7693999409675598
+            ],
+            "closest_ee_minus_button": [
+              0.001951678037769744,
+              0.0016770182271282352,
+              0.035151419087041225
+            ],
+            "button_min_z_position": [
+              0.16009469330310822,
+              -0.39759087562561035,
+              0.7688327431678772
+            ],
+            "min_active_finger_to_button": 0.14339014044913861,
+            "closest_active_finger": [
+              0.03435105085372925,
+              -0.45735201239585876,
+              0.8103722929954529
+            ],
+            "closest_active_finger_button": [
+              0.16011676192283633,
+              -0.39759179949760437,
+              0.7761314511299133
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12576571106910708,
+              -0.059760212898254395,
+              0.03424084186553955
+            ],
+            "min_contact_pad_to_button": 0.021098494882913155,
+            "closest_contact_pad": [
+              0.16009469330310822,
+              -0.39759087562561035,
+              0.7899312380507904
+            ],
+            "closest_contact_pad_button": [
+              0.16009469330310822,
+              -0.39759087562561035,
+              0.7688327431678772
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021098494882913155
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3268bc3f983fd03f6e7812f05e38015e729b9efe0b51c6778745ef10e5ea8d7e",
+    "visual_seed": 8036038386702517220,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8130fd30a78c1c60ce130bc88beac639890e70a0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_71_success.json
@@ -0,0 +1,926 @@
+{
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+            "min_ee_to_button": 0.035217076632339486,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007753252983093262,
+            "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": 0.021091327779324653,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007753252983093262,
+            "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": 0.007753275535675468,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1627673357725143,
+              -0.3925991356372833,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1627673357725143,
+              -0.3925991356372833,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16415201476110572,
+              -0.39059695756559876,
+              0.8081269253651974
+            ],
+            "closest_button": [
+              0.1627617627382278,
+              -0.39260807633399963,
+              0.7729948163032532
+            ],
+            "closest_ee_minus_button": [
+              0.0013902520228779303,
+              0.002011118768400877,
+              0.035132109061944194
+            ],
+            "button_min_z_position": [
+              0.16274882853031153,
+              -0.3926018178462982,
+              0.7690556049346924
+            ],
+            "min_active_finger_to_button": 0.14409085343212744,
+            "closest_active_finger": [
+              0.03658779710531235,
+              -0.45318055152893066,
+              0.8105289936065674
+            ],
+            "closest_active_finger_button": [
+              0.16276890039443964,
+              -0.39260199666023254,
+              0.7763128876686096
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1261811032891273,
+              -0.06057855486869812,
+              0.034216105937957764
+            ],
+            "min_contact_pad_to_button": 0.021091327779324653,
+            "closest_contact_pad": [
+              0.16274882853031153,
+              -0.3926018178462982,
+              0.790146932714017
+            ],
+            "closest_contact_pad_button": [
+              0.16274882853031153,
+              -0.3926018178462982,
+              0.7690556049346924
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021091327779324653
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ed107d597d75f18f88edfacd2e374be57b70b872315ede8d20f593e66eea0b34",
+    "visual_seed": 3504267407882348236,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5914e65e5bd094de0e197923fba58f571c2f7a0a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_72_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30899039535477335,
+              0.16174942117296856,
+              1.0459762727018176
+            ],
+            "current_z": 1.0459762727018176,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1893898248978968,
+            "gripper_z": 1.0481400507648755,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30362439503609573,
+              0.15670211844876542,
+              1.0481400507648755
+            ],
+            "object_minus_gripper": [
+              0.005366000318677622,
+              0.005047302724203145,
+              -0.0021637780630578973
+            ],
+            "object_to_gripper_xy": 0.007366764840131442,
+            "object_to_gripper_z": -0.0021637780630578973,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30899039535477335,
+              0.13716915599144663,
+              1.0459762727018176
+            ],
+            "finger_b": [
+              0.2968001455821583,
+              0.16174942117296856,
+              1.0459762727018176
+            ],
+            "finger_midpoint": [
+              0.3028952704684658,
+              0.14945928858220758,
+              1.0459762727018176
+            ],
+            "object_minus_finger_midpoint": [
+              0.006095124886307535,
+              0.012290132590760977,
+              0.0
+            ],
+            "finger_gap": 0.02743704841838278,
+            "fingertip_max_gap": 0.09363297091525405,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013718524209191401,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0459762727018176,
+            "object_top_z": 1.0927081632802054,
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+            "fingertip_min_top_clearance": 0.014019567173516333,
+            "object_projection_between_fingers": 0.8025985087990621,
+            "object_to_finger_line_xy": 0.01092098419154694,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04931648545762703,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1660983204792987,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "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,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30859459483704044,
+              0.160014558064275,
+              1.2373858094155488
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+            "held_position": [
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+              0.16461825638679944,
+              1.2350787848802895
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007676568317483613,
+            "max_held_gripper_dist": 0.007682982560087065,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023070245352592167,
+            "max_held_gripper_z_dist": 0.002344986422109674,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0872398999911773,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31428786285127364,
+              0.13908609655864043,
+              1.2350787848802895
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+            "held_grasp_finger_b": [
+              0.3041034390174059,
+              0.16461825638679944,
+              1.2350787848802895
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+            "held_grasp_midpoint": [
+              0.30919565093433976,
+              0.15185217647271992,
+              1.2350787848802895
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+            "held_grasp_object_position": [
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+              0.16461825638679944,
+              1.2350787848802895
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+            "held_grasp_finger_gap": 0.02748842800740905,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024841111464173272,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06208243466517862,
+              -0.9976980193954318,
+              0.027284306853514795
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043043070376136364,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214739540645556,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.305769770666372,
+              -0.33365418388475976,
+              0.8470199268624274
+            ],
+            "target_position": [
+              0.29857799601410423,
+              -0.33588002317824367,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007528345316828812,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1852535883044328,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199268624274,
+            "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": 0.07512981708069007,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08653169822582334,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15479354366649217,
+            "release_required_pad_clearance": 0.05326584911291167,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.550624207525363,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00787442922592163,
+            "max_z_decrease": 0.00787442922592163,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03523051924656674,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00787442922592163,
+            "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": 0.02108246297970294,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00787442922592163,
+            "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": 0.00787445393179236,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15427792072296143,
+              -0.3921414911746979,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15427792072296143,
+              -0.3921414911746979,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15670899725459023,
+              -0.39161309637714686,
+              0.8079214026583417
+            ],
+            "closest_button": [
+              0.15426729619503018,
+              -0.39215025305747986,
+              0.7727797031402588
+            ],
+            "closest_ee_minus_button": [
+              0.002441701059560042,
+              0.0005371566803329952,
+              0.03514169951808288
+            ],
+            "button_min_z_position": [
+              0.1542582660913467,
+              -0.3921431601047516,
+              0.768934428691864
+            ],
+            "min_active_finger_to_button": 0.1437694620821102,
+            "closest_active_finger": [
+              0.029047846794128418,
+              -0.45396265387535095,
+              0.8107535243034363
+            ],
+            "closest_active_finger_button": [
+              0.15427987277507782,
+              -0.3921437263488769,
+              0.7766211628913879
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1252320259809494,
+              -0.061818927526474055,
+              0.03413236141204834
+            ],
+            "min_contact_pad_to_button": 0.02108246297970294,
+            "closest_contact_pad": [
+              0.1542582660913467,
+              -0.392839689876099,
+              0.790005382433168
+            ],
+            "closest_contact_pad_button": [
+              0.1542582660913467,
+              -0.3921431601047516,
+              0.768934428691864
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006965297713474317,
+              0.021070953741303966
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "13ea74bc463ea76e907d032025513bee25b013445b31bd4271c3dabb0d4caf6c",
+    "visual_seed": 6042674746689316423,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..012986b54a340870336258f9a504015bc35ef8dc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_73_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3004896070355089,
+              0.16507997887974676,
+              1.0473340698421891
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+            "current_z": 1.0473340698421891,
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+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19074768164291311,
+            "gripper_z": 1.0496327812443031,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2951400955635858,
+              0.1600796305592767,
+              1.0496327812443031
+            ],
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+              0.005349511471923141,
+              0.005000348320470055,
+              -0.0022987114021140176
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+            "object_to_gripper_xy": 0.007322619498121214,
+            "object_to_gripper_z": -0.0022987114021140176,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3004896070355089,
+              0.14044010153282663,
+              1.0473340698421891
+            ],
+            "finger_b": [
+              0.28845108802390396,
+              0.16507997887974676,
+              1.0473340698421891
+            ],
+            "finger_midpoint": [
+              0.29447034752970647,
+              0.1527600402062867,
+              1.0473340698421891
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060192595058024545,
+              0.012319938673460068,
+              0.0
+            ],
+            "finger_gap": 0.027423520847331805,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013711760423665892,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473340698421891,
+            "object_top_z": 1.093077331219948,
+            "finger_top_clearance": 0.04574326137775886,
+            "fingertip_min_top_clearance": 0.013722978413327657,
+            "object_projection_between_fingers": 0.807292018905208,
+            "object_to_finger_line_xy": 0.01081654079123738,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04823988837970293,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4443247582953466,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
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+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "527d9aa367f6216ec5f0d08ca7acf0c95e91e22fcd8ec138854033795c489319",
+    "visual_seed": 7480424561299668316,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f23fefae139a2caf75782a3aaae5ce363660064
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_75_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+          "skill": "pick",
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+              0.1596898178938717,
+              1.0473528896274427
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+            "gripper_z": 1.0498114736864776,
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+              0.15474593807208575,
+              1.0498114736864776
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+              0.13528385411507157,
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+              0.14748683600447166,
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+              0.0,
+              1.0
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+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_gripper_z_dist": 0.002595365808097272,
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+              0.14944105926793372,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+        "post_done_wait_frames": 0,
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007813572883605957,
+            "max_z_decrease": 0.007813572883605957,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519712812805214,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007813572883605957,
+            "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": 0.021096788647252732,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007813572883605957,
+            "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": 0.007813595790427608,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1582803130149842,
+              -0.39621695876121515,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1582803130149842,
+              -0.39621695876121515,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16008567743584545,
+              -0.39509647462208103,
+              0.8078419699863932
+            ],
+            "closest_button": [
+              0.15826970338821414,
+              -0.39622145891189575,
+              0.7727097272872925
+            ],
+            "closest_ee_minus_button": [
+              0.0018159740476313135,
+              0.0011249842898147233,
+              0.03513224269910076
+            ],
+            "button_min_z_position": [
+              0.15826156735420227,
+              -0.3962195217609405,
+              0.7689952850341797
+            ],
+            "min_active_finger_to_button": 0.14408503424619581,
+            "closest_active_finger": [
+              0.031803399324417114,
+              -0.45615154504776,
+              0.8104693293571472
+            ],
+            "closest_active_finger_button": [
+              0.15828235447406774,
+              -0.3962196707725525,
+              0.7762386202812195
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12647895514965063,
+              -0.05993187427520752,
+              0.034230709075927734
+            ],
+            "min_contact_pad_to_button": 0.021096788647252732,
+            "closest_contact_pad": [
+              0.15826156735420227,
+              -0.3964942607117864,
+              0.7900902846723816
+            ],
+            "closest_contact_pad_button": [
+              0.15826156735420227,
+              -0.3962195217609405,
+              0.7689952850341797
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002747389508458986,
+              0.02109499963820194
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7c87c14c8348ea47c8dc2327655d5f0ab75aa3b34641f42f0230131c1f506b01",
+    "visual_seed": 7085788232705019423,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bb0da84fb0d9ac7b2f3001f16d06301938ac7dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_76_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3052278373319099,
+              0.15698010108281993,
+              1.047542165615098
+            ],
+            "current_z": 1.047542165615098,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.19095565820653237,
+            "gripper_z": 1.0509144097878325,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29945916408931444,
+              0.151862707027495,
+              1.0509144097878325
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+              0.005768673242595446,
+              0.005117394055324936,
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+            "object_to_gripper_xy": 0.0077113755515674145,
+            "object_to_gripper_z": -0.0033722441727344066,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3052278373319099,
+              0.1319467815010829,
+              1.047542165615098
+            ],
+            "finger_b": [
+              0.29315195359355506,
+              0.15698010108281993,
+              1.047542165615098
+            ],
+            "finger_midpoint": [
+              0.29918989546273245,
+              0.14446344129195143,
+              1.047542165615098
+            ],
+            "object_minus_finger_midpoint": [
+              0.006037941869177443,
+              0.012516659790868495,
+              0.0
+            ],
+            "finger_gap": 0.02779377731334193,
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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": 0.8112257736147319,
+            "object_to_finger_line_xy": 0.010876515755525727,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04913600082949644,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5642335267042158,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.304251227827565,
+              0.15558480544918585,
+              1.2394581511791867
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+            "held_position": [
+              0.3102220084439767,
+              0.16036537892794148,
+              1.235951445625704
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008414338226736925,
+            "max_held_gripper_dist": 0.00841774441452759,
+            "held_gripper_max_dist": 0.15,
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+                "Robotiq2F85",
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+                "elbow_joint",
+                "festo",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "fr3_rightfinger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
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+            },
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31102888378337296,
+              -0.3310777731489487,
+              0.847019494171513
+            ],
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+              0.3025233648511805,
+              -0.33440025225903347,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009131413896151809,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18725463772056344,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019494171513,
+            "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": 0.07538313289971525,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08708616259575068,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1563084762699498,
+            "release_required_pad_clearance": 0.05354308129787534,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0969573410743867,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00788027048110962,
+            "max_z_decrease": 0.00788027048110962,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514329104847694,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00788027048110962,
+            "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": 0.021095346099726294,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00788027048110962,
+            "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": 0.007880296538698567,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15822328627109522,
+              -0.39066171646118164,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15822328627109522,
+              -0.39066171646118164,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15874692912875524,
+              -0.3909216400580728,
+              0.8079489970301333
+            ],
+            "closest_button": [
+              0.15821130573749537,
+              -0.3906688094139099,
+              0.772810697555542
+            ],
+            "closest_ee_minus_button": [
+              0.0005356233912598707,
+              -0.0002528306441628714,
+              0.03513829947459135
+            ],
+            "button_min_z_position": [
+              0.15820306539535517,
+              -0.3906630575656891,
+              0.768928587436676
+            ],
+            "min_active_finger_to_button": 0.14560047121365718,
+            "closest_active_finger": [
+              0.01749718189239502,
+              -0.37560349702835083,
+              0.8108376264572144
+            ],
+            "closest_active_finger_button": [
+              0.1582245379686355,
+              -0.3906632661819458,
+              0.7766541242599487
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14072735607624048,
+              0.01505976915359497,
+              0.034183502197265625
+            ],
+            "min_contact_pad_to_button": 0.021095346099726294,
+            "closest_contact_pad": [
+              0.15820306539535517,
+              -0.3919857238452213,
+              0.7899824274897453
+            ],
+            "closest_contact_pad_button": [
+              0.15820306539535517,
+              -0.3906630575656891,
+              0.768928587436676
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001322666279532203,
+              0.021053840053069317
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d92f78ffd4ab9304d7636bf89568e3ee59c2f9a203e4d5abe2c274f9d5ba38dc",
+    "visual_seed": 3644629035463665025,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a67e157e32d0d30b8a103958c3a75fd65baa3cad
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_77_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
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+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007799506187438965,
+            "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": 0.007799527722217132,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15434210002422333,
+              -0.39311316609382624,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15434210002422333,
+              -0.39311316609382624,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15450413724499887,
+              -0.39294812472111856,
+              0.8079462677605037
+            ],
+            "closest_button": [
+              0.15433239936828613,
+              -0.393121063709259,
+              0.7728119492530823
+            ],
+            "closest_ee_minus_button": [
+              0.00017173787671273533,
+              0.0001729389881404142,
+              0.035134318507421436
+            ],
+            "button_min_z_position": [
+              0.15432393550872803,
+              -0.39311560988426203,
+              0.7690093517303467
+            ],
+            "min_active_finger_to_button": 0.1459084333876662,
+            "closest_active_finger": [
+              0.02611953765153885,
+              -0.4537917375564575,
+              0.8108059167861938
+            ],
+            "closest_active_finger_button": [
+              0.15434396266937256,
+              -0.3931154310703277,
+              0.7766569256782532
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1282244250178337,
+              -0.060676306486129816,
+              0.034148991107940674
+            ],
+            "min_contact_pad_to_button": 0.021107055906909207,
+            "closest_contact_pad": [
+              0.15432393550872803,
+              -0.3943354288014039,
+              0.7900811302710103
+            ],
+            "closest_contact_pad_button": [
+              0.15432393550872803,
+              -0.39311560988426203,
+              0.7690093517303467
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001219818917141846,
+              0.021071778540663666
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e4bd2883af4b7a451df530417fdc345cb08e32604f3cf329b1518128720bf331",
+    "visual_seed": 5440809216235274088,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcbed95ad0d615c04735bca946fe8caad7e5f571
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_78_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3018270160999961,
+              0.1623422057643194,
+              1.0452473715848327
+            ],
+            "current_z": 1.0452473715848327,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18866092378091193,
+            "gripper_z": 1.0477195321573822,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29647815443545633,
+              0.15726477714226766,
+              1.0477195321573822
+            ],
+            "object_minus_gripper": [
+              0.005348861664539795,
+              0.005077428622051738,
+              -0.002472160572549509
+            ],
+            "object_to_gripper_xy": 0.007374998475824496,
+            "object_to_gripper_z": -0.002472160572549509,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3018270160999961,
+              0.13783372762436313,
+              1.0452473715848327
+            ],
+            "finger_b": [
+              0.2895107726152019,
+              0.1623422057643194,
+              1.0452473715848327
+            ],
+            "finger_midpoint": [
+              0.295668894357599,
+              0.15008796669434127,
+              1.0452473715848327
+            ],
+            "object_minus_finger_midpoint": [
+              0.006158121742397105,
+              0.012254239069978135,
+              0.0
+            ],
+            "finger_gap": 0.02742909685559206,
+            "fingertip_max_gap": 0.09274909558086311,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01371454842779603,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0452473715848327,
+            "object_top_z": 1.0917756724395336,
+            "finger_top_clearance": 0.04652830085470083,
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+            "object_projection_between_fingers": 0.7983800438090083,
+            "object_to_finger_line_xy": 0.0110048240305775,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04887454779043156,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9283694006399286,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3015796291949632,
+              0.16033164774222386,
+              1.239142449489348
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+            "held_position": [
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+              0.16490176387950045,
+              1.2365482124846061
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0077820848663304205,
+            "max_held_gripper_dist": 0.00778467387156683,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025942370047418173,
+            "max_held_gripper_z_dist": 0.002631045148729916,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08744128017750581,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3073193868311183,
+              0.1393245007881875,
+              1.2365482124846061
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+            "held_grasp_finger_b": [
+              0.29718011145304724,
+              0.16490176387950045,
+              1.2365482124846061
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+            "held_grasp_midpoint": [
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+              0.152113132333844,
+              1.2365482124846061
+            ],
+            "held_grasp_object_position": [
+              0.3073193868311183,
+              0.16490176387950045,
+              1.2365482124846061
+            ],
+            "held_grasp_finger_gap": 0.027513656471552413,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024679476490430594,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07955102592306065,
+              -0.9964344565673509,
+              0.028107081668445777
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040527007203722655,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032053896962153494,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              -0.3374160871266587,
+              0.8470196175349196
+            ],
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+              -0.33912089354926656,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006888253607406815,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18788294817931334,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196175349196,
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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": 0.15633049644102714,
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+            "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": 0.8374280487290131,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008048951625823975,
+            "max_z_decrease": 0.008048951625823975,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516071686061425,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008048951625823975,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021078139037808478,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008048951625823975,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008048959513982107,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16288872063159943,
+              -0.39538234472274775,
+              0.7768088579177856
+            ],
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+              0.16288872063159943,
+              -0.39538234472274775,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16404711212806367,
+              -0.3949652724671125,
+              0.8038987204708399
+            ],
+            "closest_button": [
+              0.1628776639699936,
+              -0.39538016915321345,
+              0.7687599062919617
+            ],
+            "closest_ee_minus_button": [
+              0.0011694481580700744,
+              0.00041489668610095176,
+              0.03513881417887821
+            ],
+            "button_min_z_position": [
+              0.1628776639699936,
+              -0.39538016915321345,
+              0.7687599062919617
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+            "min_active_finger_to_button": 0.14453745732224071,
+            "closest_active_finger": [
+              0.03700673580169678,
+              -0.4576198160648346,
+              0.810880720615387
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+            "closest_active_finger_button": [
+              0.1628924459218979,
+              -0.3953845798969268,
+              0.7766661047935486
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1258857101202011,
+              -0.06223523616790777,
+              0.03421461582183838
+            ],
+            "min_contact_pad_to_button": 0.021078139037808478,
+            "closest_contact_pad": [
+              0.1628776639699936,
+              -0.39617145910521556,
+              0.7898231872687954
+            ],
+            "closest_contact_pad_button": [
+              0.1628776639699936,
+              -0.39538016915321345,
+              0.7687599062919617
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007912899520021166,
+              0.021063280976833743
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c6e132ad48283ae6d07bcd175c6cc2587bcecc37d13129f187665c14a313c7a5",
+    "visual_seed": 3682291148988002574,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..346a2c7f4d4615703e6b549b9834e33338d680b0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_79_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.1658848761986684,
+              1.0465282359368115
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+            "lift_margin": 0.1899416689236012,
+            "gripper_z": 1.0487512783180548,
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+            "gripper_position": [
+              0.29914777359287203,
+              0.16093890620662793,
+              1.0487512783180548
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+              0.005286135085472321,
+              0.004945969992040472,
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+            "object_to_gripper_z": -0.0022230423812432676,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30443390867834436,
+              0.14129145895329406,
+              1.0465282359368115
+            ],
+            "finger_b": [
+              0.2924725718749631,
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+              1.0465282359368115
+            ],
+            "finger_midpoint": [
+              0.29845324027665376,
+              0.15358816757598123,
+              1.0465282359368115
+            ],
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+              0.005980668401690592,
+              0.012296708622687169,
+              0.0
+            ],
+            "finger_gap": 0.02734793867787842,
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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": 0.8087020818521152,
+            "object_to_finger_line_xy": 0.010756574756252461,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04950235645128133,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2664552629796995,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
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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": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a1a30abd4bf8b799231ece47fe63e3eb17ae3e6f66983e4edb35bcd04fc6297a",
+    "visual_seed": 9209970007337123088,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b6784afbe0a854e27b96d87660a34506e8a410d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_7_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.16696798075661637,
+              1.0459378655118376
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+            "lift_margin": 0.1893512984986273,
+            "gripper_z": 1.0481653541603992,
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+            "gripper_position": [
+              0.29650106175237434,
+              0.16205151330741835,
+              1.0481653541603992
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+              0.00491646744919802,
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+            "object_to_gripper_z": -0.002227488648561593,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.14264303556025212,
+              1.0459378655118376
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+              1.0459378655118376
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+              0.15480550815843425,
+              1.0459378655118376
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+              0.012162472598182122,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+              ],
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.16497721076566435,
+              1.2385254045601266
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+              0.1694057731234037,
+              1.236165810141356
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.007397529593536362,
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+            "held_gripper_z_dist": 0.0023595944187706497,
+            "max_held_gripper_z_dist": 0.0023947131680142064,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08735358695450648,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.14395831213241286,
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+              0.1566820426279083,
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+            "held_grasp_finger_gap": 0.027266364468434775,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              0.02734131191425026
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+            "held_grasp_object_to_finger_line_xy": 0.0038969359230061847,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "target": "heater_platform",
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+          "metrics": {
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15383952294068184,
+            "release_required_pad_clearance": 0.052610440024979874,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2825480090693135,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007825016975402832,
+            "max_z_decrease": 0.007825016975402832,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517034569584407,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007825016975402832,
+            "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": 0.021124720325377367,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007825016975402832,
+            "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": 0.007825038811985976,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15476273000240326,
+              -0.3922961950302124,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15476273000240326,
+              -0.3922961950302124,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15632260183287827,
+              -0.392315648727386,
+              0.8078831000783407
+            ],
+            "closest_button": [
+              0.15475262701511378,
+              -0.3923049867153168,
+              0.772747814655304
+            ],
+            "closest_ee_minus_button": [
+              0.0015699748177644968,
+              -1.0662012069229121e-05,
+              0.03513528542303679
+            ],
+            "button_min_z_position": [
+              0.15474438667297358,
+              -0.39229848980903625,
+              0.7689838409423828
+            ],
+            "min_active_finger_to_button": 0.14464479501697183,
+            "closest_active_finger": [
+              0.015371143817901611,
+              -0.3743949830532074,
+              0.8108060956001282
+            ],
+            "closest_active_finger_button": [
+              0.1547639667987823,
+              -0.39229902625083923,
+              0.7765832543373108
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13939282298088068,
+              0.017904043197631836,
+              0.03422284126281738
+            ],
+            "min_contact_pad_to_button": 0.021124720325377367,
+            "closest_contact_pad": [
+              0.15474438667297358,
+              -0.3936668903241243,
+              0.7900641940906514
+            ],
+            "closest_contact_pad_button": [
+              0.15474438667297358,
+              -0.39229848980903625,
+              0.7689838409423828
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013684005150880196,
+              0.021080353148268616
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1a067f8e65d45280937596aaeac3d3195fb17fb78e1e78f274900b21509e5fd1",
+    "visual_seed": 6437041443823589154,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..af7646fbb33e99f13c1f462411ba8b09e4d7242c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_80_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.30511639741278757,
+              0.15507601432412882,
+              1.048638687961165
+            ],
+            "current_z": 1.048638687961165,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19205218055259954,
+            "gripper_z": 1.0508319931940702,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2998341732067688,
+              0.15012167546854355,
+              1.0508319931940702
+            ],
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+              0.00528222420601876,
+              0.004954338855585272,
+              -0.002193305232905063
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+            "object_to_gripper_xy": 0.007242055375279347,
+            "object_to_gripper_z": -0.002193305232905063,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30511639741278757,
+              0.13046533548836783,
+              1.048638687961165
+            ],
+            "finger_b": [
+              0.2931684785885208,
+              0.15507601432412882,
+              1.048638687961165
+            ],
+            "finger_midpoint": [
+              0.2991424380006542,
+              0.14277067490624834,
+              1.048638687961165
+            ],
+            "object_minus_finger_midpoint": [
+              0.005973959412133356,
+              0.012305339417880479,
+              0.0
+            ],
+            "finger_gap": 0.027357599985894994,
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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": 0.8092658157387228,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0482585240492054,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.46421056950274936,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3050319368531147,
+              0.1528443667623607,
+              1.2405574375289319
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+            "held_position": [
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+              0.1573451724775678,
+              1.23821031751643
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007566856938497382,
+            "max_held_gripper_dist": 0.007569522086689465,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023471200125018132,
+            "max_held_gripper_z_dist": 0.0023781180457427276,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08776151881437662,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3106436299566761,
+              0.13176314616464238,
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_leftfinger",
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+                "gripper",
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+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "desk",
+                "floor",
+                "ground",
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+                "workbench"
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+            },
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+            "forbidden": [],
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_used": false,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.3084054466723148,
+              -0.331115458007734,
+              0.8470195151690221
+            ],
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+              0.29926483764987044,
+              -0.3340282136583035,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009593481056483897,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1878803380970411,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195151690221,
+            "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": 0.07516470909883657,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537993106318446,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15746504980226922,
+            "release_required_pad_clearance": 0.052689965531592234,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.43521171636238465,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007633864879608154,
+            "max_z_decrease": 0.007633864879608154,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520361250857554,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007633864879608154,
+            "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": 0.021058536572272968,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007633864879608154,
+            "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": 0.007633887757801059,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15496475994586947,
+              -0.3902896642684936,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15496475994586947,
+              -0.3902896642684936,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15643964970586385,
+              -0.3889404708653913,
+              0.808142779812287
+            ],
+            "closest_button": [
+              0.15495386719703674,
+              -0.3902959525585174,
+              0.7729966640472412
+            ],
+            "closest_ee_minus_button": [
+              0.0014857825088271104,
+              0.0013554816931261038,
+              0.03514611576504578
+            ],
+            "button_min_z_position": [
+              0.15494611859321594,
+              -0.39029100537300104,
+              0.7691749930381775
+            ],
+            "min_active_finger_to_button": 0.14423865922803383,
+            "closest_active_finger": [
+              0.0296759232878685,
+              -0.45309606194496155,
+              0.810370147228241
+            ],
+            "closest_active_finger_button": [
+              0.15496446192264557,
+              -0.390292078256607,
+              0.776263952255249
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12528853863477707,
+              -0.06280398368835455,
+              0.03410619497299194
+            ],
+            "min_contact_pad_to_button": 0.021058536572272968,
+            "closest_contact_pad": [
+              0.15494611859321594,
+              -0.39029100537300104,
+              0.7902335296104505
+            ],
+            "closest_contact_pad_button": [
+              0.15494611859321594,
+              -0.39029100537300104,
+              0.7691749930381775
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021058536572272968
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dfcdb926cfb3b8484fd44f9656002f025eb529f43156b89e3c1e9e4729fb2fff",
+    "visual_seed": 8607742040947716464,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..81096805f3fc3e0304e0d63e956393dba5677348
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_81_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29993676239738887,
+              0.15377737100583402,
+              1.04678318814248
+            ],
+            "current_z": 1.04678318814248,
+            "required_z": 0.8565865074085656,
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+            "button_start": [
+              0.15929006040096286,
+              -0.3946852684020996,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15929006040096286,
+              -0.3946852684020996,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15804698711717405,
+              -0.394624134093966,
+              0.8077903039600997
+            ],
+            "closest_button": [
+              0.15927977859973907,
+              -0.3946915566921234,
+              0.7726612091064453
+            ],
+            "closest_ee_minus_button": [
+              -0.0012327914825650266,
+              6.742259815739615e-05,
+              0.03512909485365434
+            ],
+            "button_min_z_position": [
+              0.15927086770534518,
+              -0.39468565583229065,
+              0.7688193321228027
+            ],
+            "min_active_finger_to_button": 0.1471593736783065,
+            "closest_active_finger": [
+              0.030754633247852325,
+              -0.45770642161369324,
+              0.8105911612510681
+            ],
+            "closest_active_finger_button": [
+              0.15928904712200165,
+              -0.39468812942504883,
+              0.7764813303947449
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12853441387414932,
+              -0.06301829218864441,
+              0.03410983085632324
+            ],
+            "min_contact_pad_to_button": 0.021058771255349412,
+            "closest_contact_pad": [
+              0.15927086770534518,
+              -0.3958156749261233,
+              0.7898477629637548
+            ],
+            "closest_contact_pad_button": [
+              0.15927086770534518,
+              -0.39468565583229065,
+              0.7688193321228027
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001130019093832646,
+              0.021028430840952073
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ac971cbf6427c4e7aa10a71070ca4f5c37b69fda2978182627bd19694a8921ac",
+    "visual_seed": 8929679408326795859,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ae33cee32a6044d5de2ab343450601ddd2a050b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_84_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30940590236878013,
+              0.16203658706426774,
+              1.047518283133341
+            ],
+            "current_z": 1.047518283133341,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19093183532942015,
+            "gripper_z": 1.0504138807138679,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3037850962397839,
+              0.15693771744088295,
+              1.0504138807138679
+            ],
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+              0.005620806128996236,
+              0.005098869623384794,
+              -0.002895597580526932
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+            "object_to_gripper_xy": 0.007588934903926759,
+            "object_to_gripper_z": -0.002895597580526932,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30940590236878013,
+              0.13707266753963632,
+              1.047518283133341
+            ],
+            "finger_b": [
+              0.2973994536280472,
+              0.16203658706426774,
+              1.047518283133341
+            ],
+            "finger_midpoint": [
+              0.3034026779984137,
+              0.14955462730195201,
+              1.047518283133341
+            ],
+            "object_minus_finger_midpoint": [
+              0.006003224370366433,
+              0.012481959762315725,
+              0.0
+            ],
+            "finger_gap": 0.0277011207245505,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01385056036227525,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047518283133341,
+            "object_top_z": 1.0930322443357707,
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+            "object_projection_between_fingers": 0.8121399376428468,
+            "object_to_finger_line_xy": 0.010820068369097815,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04865279268287413,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5088724406666985,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30889643217092927,
+              0.15998232770743737,
+              1.240614785997129
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+            "held_position": [
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+              0.16467638329960205,
+              1.2375764848767214
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008122121505185044,
+            "max_held_gripper_dist": 0.0081241524304022,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003038301120407594,
+            "max_held_gripper_z_dist": 0.003077132929607318,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08747170054216513,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31478739356482643,
+              0.1389795959026101,
+              1.2375764848767214
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+              0.16467638329960205,
+              1.2375764848767214
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+              0.15182798960110608,
+              1.2375764848767214
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+            "held_grasp_object_position": [
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+              0.16467638329960205,
+              1.2375764848767214
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+            "held_grasp_finger_gap": 0.027676765952900077,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025293025923896036,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03736541511603039,
+              -0.9992355137682197,
+              0.011498425003835466
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004658705374242245,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216959537093284,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3104139324772804,
+              -0.33481159247015024,
+              0.8470201142761355
+            ],
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+              0.3025183203186728,
+              -0.33773889953172104,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.008420796755169541,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1870542865467116,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_min_pad_clearance": 0.15495466160944316,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8066538209870333,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00783008337020874,
+            "max_z_decrease": 0.00783008337020874,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03524968532966366,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00783008337020874,
+            "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": 0.02123739040605761,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00783008337020874,
+            "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": 0.007830104546997996,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15821824967861178,
+              -0.3940003514289856,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15821824967861178,
+              -0.3940003514289856,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16060141021879643,
+              -0.395437412518292,
+              0.8081036899527259
+            ],
+            "closest_button": [
+              0.158210426568985,
+              -0.3940082490444183,
+              0.7729642391204834
+            ],
+            "closest_ee_minus_button": [
+              0.0023909836498114123,
+              -0.001429163473873729,
+              0.03513945083224246
+            ],
+            "button_min_z_position": [
+              0.15820012986660006,
+              -0.39400216937065125,
+              0.7689787745475769
+            ],
+            "min_active_finger_to_button": 0.14370071330435283,
+            "closest_active_finger": [
+              0.01947738230228424,
+              -0.3788583278656006,
+              0.810492753982544
+            ],
+            "closest_active_finger_button": [
+              0.15821929275989535,
+              -0.3940024971961975,
+              0.7762694954872131
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1387419104576111,
+              0.015144169330596924,
+              0.03422325849533081
+            ],
+            "min_contact_pad_to_button": 0.02123739040605761,
+            "closest_contact_pad": [
+              0.15820012986660006,
+              -0.39664494812388923,
+              0.7900510898385159
+            ],
+            "closest_contact_pad_button": [
+              0.15820012986660006,
+              -0.39400216937065125,
+              0.7689787745475769
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026427787532379843,
+              0.021072315290939003
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c6accd846fde3896f9a15f88e9b2fe2f30dffbb411f63c63d6fc7bb9b9020bb6",
+    "visual_seed": 1688652416839817212,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5489e613de745c0719339728df99262f0f39291b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_86_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2999676689615456,
+              0.15724434066917944,
+              1.0449253015514772
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+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.18833879414291188,
+            "gripper_z": 1.0479200378066493,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29437909632178844,
+              0.15220202312377823,
+              1.0479200378066493
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+              0.00558857263975715,
+              0.005042317545401215,
+              -0.0029947362551721035
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+            "object_to_gripper_xy": 0.007527091760999273,
+            "object_to_gripper_z": -0.0029947362551721035,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2999676689615456,
+              0.13237327792278883,
+              1.0449253015514772
+            ],
+            "finger_b": [
+              0.28795384754303655,
+              0.15724434066917944,
+              1.0449253015514772
+            ],
+            "finger_midpoint": [
+              0.29396075825229107,
+              0.14480880929598414,
+              1.0449253015514772
+            ],
+            "object_minus_finger_midpoint": [
+              0.00600691070925452,
+              0.012435531373195308,
+              0.0
+            ],
+            "finger_gap": 0.027620674633519103,
+            "fingertip_max_gap": 0.09424227544634253,
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+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013810337316759552,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0449253015514772,
+            "object_top_z": 1.091255835556571,
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+            "object_projection_between_fingers": 0.8108119155073759,
+            "object_to_finger_line_xy": 0.010817856923779292,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04962113772317127,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0559715372291456,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "84ccd6639a6564e1daeaf6bf9ee945cd648cd2d39ca8c2feca2e95881001acc6",
+    "visual_seed": 1766520258495530896,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b56e24afc16a96c5414499a1e9b0b46c25957f4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_87_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.16284148760241554,
+              1.047697748323902
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+              0.1578161466901366,
+              1.0499371503316721
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+              0.13832258090051705,
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+              0.1505820342514663,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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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": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "virtual_attach_allowed": false,
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+              0.1607174509683661,
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+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.0023741039479858728,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
+            },
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+        },
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15725286868982954,
+            "release_required_pad_clearance": 0.0528124157882071,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6690994953177022,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0077152252197265625,
+            "max_z_decrease": 0.0077152252197265625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514806718446428,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0077152252197265625,
+            "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": 0.021118370890819887,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0077152252197265625,
+            "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": 0.0077152439186379635,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1570401936769486,
+              -0.391150951385498,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1570401936769486,
+              -0.391150951385498,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1561607553489454,
+              -0.3917634918027722,
+              0.8080433131761531
+            ],
+            "closest_button": [
+              0.15702913701534277,
+              -0.3911580741405487,
+              0.7729111909866333
+            ],
+            "closest_ee_minus_button": [
+              -0.0008683816663973554,
+              -0.0006054176622234952,
+              0.03513212218951978
+            ],
+            "button_min_z_position": [
+              0.1570232212543488,
+              -0.39115163683891296,
+              0.7690936326980591
+            ],
+            "min_active_finger_to_button": 0.14691633888670227,
+            "closest_active_finger": [
+              0.015072986483573914,
+              -0.37499162554740906,
+              0.8109562993049622
+            ],
+            "closest_active_finger_button": [
+              0.15704257786273962,
+              -0.39115375280380243,
+              0.776782751083374
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1419695913791657,
+              0.016162127256393377,
+              0.034173548221588135
+            ],
+            "min_contact_pad_to_button": 0.021118370890819887,
+            "closest_contact_pad": [
+              0.1570232212543488,
+              -0.3930475339968681,
+              0.7901267295468041
+            ],
+            "closest_contact_pad_button": [
+              0.1570232212543488,
+              -0.39115163683891296,
+              0.7690936326980591
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018958971579551287,
+              0.021033096848744992
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c377aa481b2b7ca648e8f09e59501c000ebd0f629e0544ca897179dac65564b",
+    "visual_seed": 615069657230770737,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a013b0a54276be47ff89b962b5270bd79b52b295
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_8_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30085283008616737,
+              0.16319435928345585,
+              1.0477725328763106
+            ],
+            "current_z": 1.0477725328763106,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.19118590625845544,
+            "gripper_z": 1.0500395801783482,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.295927374566007,
+              0.15835903040990945,
+              1.0500395801783482
+            ],
+            "object_minus_gripper": [
+              0.004925455520160382,
+              0.004835328873546402,
+              -0.002267047302037639
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+            "object_to_gripper_xy": 0.0069022110512813135,
+            "object_to_gripper_z": -0.002267047302037639,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30085283008616737,
+              0.13895117755345687,
+              1.0477725328763106
+            ],
+            "finger_b": [
+              0.2889300813864238,
+              0.16319435928345585,
+              1.0477725328763106
+            ],
+            "finger_midpoint": [
+              0.2948914557362956,
+              0.15107276841845635,
+              1.0477725328763106
+            ],
+            "object_minus_finger_midpoint": [
+              0.005961374349871762,
+              0.012121590864999504,
+              0.0
+            ],
+            "finger_gap": 0.02701636165272803,
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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": 1.0477725328763106,
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+            "object_projection_between_fingers": 0.8052403174984007,
+            "object_to_finger_line_xy": 0.010698900435388776,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04896633191745077,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9973871392459196,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.301129098156097,
+              0.16127438920050968,
+              1.2427922164416552
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+            "held_position": [
+              0.30643779826617584,
+              0.16562304856631496,
+              1.2404088400644195
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007264545277863014,
+            "max_held_gripper_dist": 0.0072707210550270384,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023833763772356242,
+            "max_held_gripper_z_dist": 0.0024152417326179787,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.087386037206518,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30643779826617584,
+              0.14024549063755298,
+              1.2404088400644195
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+            "held_grasp_finger_b": [
+              0.29676043266999064,
+              0.16562304856631496,
+              1.2404088400644195
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+            "held_grasp_midpoint": [
+              0.30159911546808327,
+              0.15293426960193396,
+              1.2404088400644195
+            ],
+            "held_grasp_object_position": [
+              0.30643779826617584,
+              0.16562304856631496,
+              1.2404088400644195
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+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30782566089291186,
+              -0.3342660311396821,
+              0.8470195685314597
+            ],
+            "target_position": [
+              0.30060176613295003,
+              -0.3363441095471024,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0075168520918261,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1848074578899945,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195685314597,
+            "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": 0.07552276370329579,
+            "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": 0.15330568546854242,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00799095630645752,
+            "max_z_decrease": 0.00799095630645752,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03523886935832043,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00799095630645752,
+            "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": 0.021147153246065812,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00799095630645752,
+            "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": 0.007990982173211394,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15630169212818146,
+              -0.392605572938919,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15630169212818146,
+              -0.392605572938919,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1587019125153705,
+              -0.39364649429797893,
+              0.8078509625424847
+            ],
+            "closest_button": [
+              0.1562899798154831,
+              -0.3926116824150085,
+              0.7727099657058716
+            ],
+            "closest_ee_minus_button": [
+              0.0024119326998874036,
+              -0.0010348118829704434,
+              0.03514099683661309
+            ],
+            "button_min_z_position": [
+              0.15628136694431305,
+              -0.392606109380722,
+              0.7688179016113281
+            ],
+            "min_active_finger_to_button": 0.14371252750988198,
+            "closest_active_finger": [
+              0.017314493656158447,
+              -0.3796681761741638,
+              0.8107218742370605
+            ],
+            "closest_active_finger_button": [
+              0.15630152821540833,
+              -0.3926070928573608,
+              0.7765388488769531
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13898703455924988,
+              0.012938916683196966,
+              0.03418302536010742
+            ],
+            "min_contact_pad_to_button": 0.021147153246065812,
+            "closest_contact_pad": [
+              0.15628136694431305,
+              -0.3945738816741969,
+              0.7898733038305598
+            ],
+            "closest_contact_pad_button": [
+              0.15628136694431305,
+              -0.392606109380722,
+              0.7688179016113281
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00196777229347489,
+              0.021055402219231634
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7deb3ebbdcc11d4b9d0207d4b9a5579a657a525fe6f7c503fe1a668fae2e311e",
+    "visual_seed": 8405049124603945919,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa2442c93144f7b852a4fe1c9c0dd3cce23fd06b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_90_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.307857463778059,
+              0.15779798822226962,
+              1.0467091022309887
+            ],
+            "current_z": 1.0467091022309887,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19012265442706788,
+            "gripper_z": 1.0498598705099884,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30215113467147,
+              0.15271993661122785,
+              1.0498598705099884
+            ],
+            "object_minus_gripper": [
+              0.005706329106589025,
+              0.005078051611041773,
+              -0.003150768278999738
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+              0.7730887532234192
+            ],
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+              0.0003102723098485638,
+              0.0009626144553150917,
+              0.035137566116675956
+            ],
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+              0.16362319886684418,
+              -0.388893723487854,
+              0.7691770195960999
+            ],
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+            "closest_active_finger": [
+              0.03707067668437958,
+              -0.45189201831817627,
+              0.8105544447898865
+            ],
+            "closest_active_finger_button": [
+              0.16364169120788574,
+              -0.3888942301273346,
+              0.776404619216919
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12657101452350616,
+              -0.06299778819084167,
+              0.03414982557296753
+            ],
+            "min_contact_pad_to_button": 0.021070034237488038,
+            "closest_contact_pad": [
+              0.16362319886684418,
+              -0.3890064656816642,
+              0.7902467521992121
+            ],
+            "closest_contact_pad_button": [
+              0.16362319886684418,
+              -0.388893723487854,
+              0.7691770195960999
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00011274219381018913,
+              0.02106973260311229
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2338a15b31ea93b4d25bd553120f3ea138dedd36924330f1524edf676e1c0c65",
+    "visual_seed": 6656845722467294588,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..20758debea5d35e030bd6a17d552bc6ce2cec1c4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_91_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3070166110390386,
+              0.15859722112273517,
+              1.049113427124201
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+            "current_z": 1.049113427124201,
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+            "lift_margin": 0.1925269197156355,
+            "gripper_z": 1.0512163143485462,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30191993802173156,
+              0.15365367458079598,
+              1.0512163143485462
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+              0.005096673017307041,
+              0.004943546541939181,
+              -0.0021028872243451513
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+            "object_to_gripper_z": -0.0021028872243451513,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3070166110390386,
+              0.13425705415314187,
+              1.049113427124201
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+            "finger_b": [
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+              1.049113427124201
+            ],
+            "finger_midpoint": [
+              0.30096189148400854,
+              0.14642713763793852,
+              1.049113427124201
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+            "object_minus_finger_midpoint": [
+              0.006054719555030064,
+              0.012170083484796645,
+              0.0
+            ],
+            "finger_gap": 0.027186067087166803,
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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": 0.801593778207263,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879744299245574,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8913121254453469,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.15665473463432483,
+              1.2433846004482616
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+              0.161097671461385,
+              1.2411604715690954
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007405905766526277,
+            "max_held_gripper_dist": 0.007410690734367506,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022241288791662317,
+            "max_held_gripper_z_dist": 0.002256212478557451,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0865827669416339,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.13562253770976043,
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+              0.14836010458557272,
+              1.2411604715690954
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+            "held_grasp_object_position": [
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+              0.161097671461385,
+              1.2411604715690954
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+            "held_grasp_finger_gap": 0.02731384309142592,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02459293448873145,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9964237414366222,
+              0.02630794198810981
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039022118486847657,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032112664123784364,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31238559193877463,
+              -0.3390141112479609,
+              0.8470196541463821
+            ],
+            "target_position": [
+              0.3048232105669249,
+              -0.34125144180035316,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007886397150408269,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18683211773602787,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196541463821,
+            "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": 0.07570697135103269,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08522885300863335,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15496478076827394,
+            "release_required_pad_clearance": 0.05261442650431668,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2907399076312608,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007992088794708252,
+            "max_z_decrease": 0.007992088794708252,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035193586062471166,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007992088794708252,
+            "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": 0.02106965041610729,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007992088794708252,
+            "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": 0.007992112906192077,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16052313148975375,
+              -0.3975129127502441,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16052313148975375,
+              -0.3975129127502441,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16216937446467156,
+              -0.39644239939890913,
+              0.807992642341612
+            ],
+            "closest_button": [
+              0.160512775182724,
+              -0.397521287202835,
+              0.7728546261787415
+            ],
+            "closest_ee_minus_button": [
+              0.0016565992819475572,
+              0.0010788878039258987,
+              0.0351380161628706
+            ],
+            "button_min_z_position": [
+              0.16050361096858978,
+              -0.3975149989128112,
+              0.7688167691230774
+            ],
+            "min_active_finger_to_button": 0.14423046814329699,
+            "closest_active_finger": [
+              0.034806303679943085,
+              -0.4594062864780426,
+              0.8109091520309448
+            ],
+            "closest_active_finger_button": [
+              0.1605278849601746,
+              -0.3975141942501067,
+              0.7767641544342041
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1257215812802315,
+              -0.0618920922279359,
+              0.03414499759674072
+            ],
+            "min_contact_pad_to_button": 0.02106965041610729,
+            "closest_contact_pad": [
+              0.16050361096858978,
+              -0.3975972716469393,
+              0.7898862589093582
+            ],
+            "closest_contact_pad_button": [
+              0.16050361096858978,
+              -0.3975149989128112,
+              0.7688167691230774
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -8.2272734128086e-05,
+              0.02106948978628076
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "53d0aa223d1c6e9151c6f0220cceb4171e7030aa83ad71513707dc97d4895cd3",
+    "visual_seed": 4066182885795476626,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b112adfb8a5a2811cf1608d45e8299d866c5b74
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_92_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3046272920534933,
+              0.1649157819732288,
+              1.044910587706597
+            ],
+            "current_z": 1.044910587706597,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.18832413990267605,
+            "gripper_z": 1.0480314044646046,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2989349537165188,
+              0.15972790085517138,
+              1.0480314044646046
+            ],
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+              0.005692338336974523,
+              0.0051878811180574025,
+              -0.003120816758007683
+            ],
+            "object_to_gripper_xy": 0.007701741766489344,
+            "object_to_gripper_z": -0.003120816758007683,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3046272920534933,
+              0.1399832734077484,
+              1.044910587706597
+            ],
+            "finger_b": [
+              0.292386656337275,
+              0.1649157819732288,
+              1.044910587706597
+            ],
+            "finger_midpoint": [
+              0.2985069741953842,
+              0.15244952769048858,
+              1.044910587706597
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061203178581091255,
+              0.012466254282740202,
+              0.0
+            ],
+            "finger_gap": 0.027775225401514055,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013887612700757028,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.044910587706597,
+            "object_top_z": 1.0904733276342318,
+            "finger_top_clearance": 0.04556273992763482,
+            "fingertip_min_top_clearance": 0.013668821978290446,
+            "object_projection_between_fingers": 0.8057805308086831,
+            "object_to_finger_line_xy": 0.010987840798040882,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04877132219124135,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5802737594574285,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb3f6afbf2388e03a45510aa270e6329dfff4ee25009bd38c6bac6e380ab70b8",
+    "visual_seed": 8634213766012386059,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
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+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b521f547ec8bea25070d6f21e157c314b7f8e41b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_93_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.16297370503943928,
+              1.0455391392277347
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+              0.15792234648477665,
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+              0.005051358554662627,
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+              0.13842381831571682,
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+              0.15069876167757806,
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+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+          }
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+              1.235102295180648
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+        },
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+        "post_done_wait_frames": 0,
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15634485516429952,
+            "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": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008025169372558594,
+            "max_z_decrease": 0.008025169372558594,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351689480069435,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008025169372558594,
+            "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": 0.021260738854226753,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008025169372558594,
+            "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": 0.008025191204600438,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16358445584774017,
+              -0.3934792876243591,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16358445584774017,
+              -0.3934792876243591,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16397312986489698,
+              -0.39516688038681597,
+              0.807928913706274
+            ],
+            "closest_button": [
+              0.16357818245887756,
+              -0.39348900318145746,
+              0.7728022336959839
+            ],
+            "closest_ee_minus_button": [
+              0.00039494740601941913,
+              -0.0016778772053585023,
+              0.03512668001029007
+            ],
+            "button_min_z_position": [
+              0.16356588900089264,
+              -0.39348167181015015,
+              0.768783688545227
+            ],
+            "min_active_finger_to_button": 0.14561693512121376,
+            "closest_active_finger": [
+              0.022830799221992493,
+              -0.3787102997303009,
+              0.8103529810905457
+            ],
+            "closest_active_finger_button": [
+              0.16358551383018494,
+              -0.3934837877750396,
+              0.7760871648788452
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14075471460819244,
+              0.014773488044738714,
+              0.03426581621170044
+            ],
+            "min_contact_pad_to_button": 0.021260738854226753,
+            "closest_contact_pad": [
+              0.16356588900089264,
+              -0.3963829423825033,
+              0.7898455414004159
+            ],
+            "closest_contact_pad_button": [
+              0.16356588900089264,
+              -0.39348167181015015,
+              0.768783688545227
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002901270572353176,
+              0.0210618528551888
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "251565c4e73d53d2681792ed182598640c42a8de6998dae9d6e4fb6bf6ecbe70",
+    "visual_seed": 6004277694153945657,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..22d9920b461b9b8fb559713770feed16e8f00429
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_94_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3061211155490042,
+              0.15788439747504968,
+              1.047931280036613
+            ],
+            "current_z": 1.047931280036613,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19134489183733694,
+            "gripper_z": 1.051266192132009,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30040539084241447,
+              0.15282254959612948,
+              1.051266192132009
+            ],
+            "object_minus_gripper": [
+              0.005715724706589709,
+              0.005061847878920195,
+              -0.0033349120953960476
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+            "object_to_gripper_xy": 0.0076349075220888485,
+            "object_to_gripper_z": -0.0033349120953960476,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3061211155490042,
+              0.13287478379125034,
+              1.047931280036613
+            ],
+            "finger_b": [
+              0.2941438398402911,
+              0.15788439747504968,
+              1.047931280036613
+            ],
+            "finger_midpoint": [
+              0.3001324776946476,
+              0.14537959063315,
+              1.047931280036613
+            ],
+            "object_minus_finger_midpoint": [
+              0.005988637854356549,
+              0.012504806841899668,
+              0.0
+            ],
+            "finger_gap": 0.027729693651668996,
+            "fingertip_max_gap": 0.09328840509937616,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013864846825834498,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047931280036613,
+            "object_top_z": 1.0939246543354795,
+            "finger_top_clearance": 0.04599337429886652,
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+            "object_projection_between_fingers": 0.8134368137395827,
+            "object_to_finger_line_xy": 0.010802392634483312,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049144202549688085,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6765959818888547,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30514721775330456,
+              0.15647775746713707,
+              1.2410951264017094
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+            "held_position": [
+              0.311051826012398,
+              0.16122306392776156,
+              1.2376299815378602
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008330039677340046,
+            "max_held_gripper_dist": 0.008333620344761329,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00346514486384919,
+            "max_held_gripper_z_dist": 0.003503150632934826,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0872584038759612,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.311051826012398,
+              0.13565997723402698,
+              1.2376299815378602
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+            "held_grasp_finger_b": [
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+              0.16122306392776156,
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+            "held_grasp_midpoint": [
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+              0.14844152058089427,
+              1.2376299815378602
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+            "held_grasp_object_position": [
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+              0.16122306392776156,
+              1.2376299815378602
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+            "held_grasp_finger_gap": 0.027673876494148687,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025338379852134493,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02035478493778781,
+              -0.9996504896787789,
+              0.016869535118494428
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_joint1",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint5",
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+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "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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+            "forbidden": [],
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31245338868019445,
+              -0.3353983264662803,
+              0.8470196554698683
+            ],
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+              0.3035994941318412,
+              -0.33873793953559417,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009462793674496546,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18890671882349347,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196554698683,
+            "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": 0.07531321678575686,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08616332953418453,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15804674798348953,
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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": 1.1915527339187335,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007856786251068115,
+            "max_z_decrease": 0.007856786251068115,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035222942546654895,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007856786251068115,
+            "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": 0.021175693947374893,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007856786251068115,
+            "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": 0.007856808118052271,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15929941833019254,
+              -0.3949993848800659,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15929941833019254,
+              -0.3949993848800659,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16129366369758685,
+              -0.3962895945553144,
+              0.8081417203195175
+            ],
+            "closest_button": [
+              0.15929009020328522,
+              -0.3950064182281494,
+              0.7729992270469666
+            ],
+            "closest_ee_minus_button": [
+              0.002003573494301636,
+              -0.0012831763271649588,
+              0.03514249327255092
+            ],
+            "button_min_z_position": [
+              0.159280925989151,
+              -0.3950006663799286,
+              0.7689520716667175
+            ],
+            "min_active_finger_to_button": 0.1440961019632905,
+            "closest_active_finger": [
+              0.019948109984397888,
+              -0.38174980878829956,
+              0.8105013966560364
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+            "closest_active_finger_button": [
+              0.15929985046386716,
+              -0.3950019478797912,
+              0.7763084173202515
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13935174047946927,
+              0.013252139091491644,
+              0.03419297933578491
+            ],
+            "min_contact_pad_to_button": 0.021175693947374893,
+            "closest_contact_pad": [
+              0.159280925989151,
+              -0.397262443675449,
+              0.7900066288365646
+            ],
+            "closest_contact_pad_button": [
+              0.159280925989151,
+              -0.3950006663799286,
+              0.7689520716667175
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022617772955204063,
+              0.021054557169847055
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7ed9127073d8cbc034f579a6a77d873380cbdad0f4103676d9863699d4f9c332",
+    "visual_seed": 6813954676835314406,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa9322a934f9d4dd5ff711afff75769f240000b1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_95_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.308608880340023,
+              0.16223799804860872,
+              1.0486949803452994
+            ],
+            "current_z": 1.0486949803452994,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19210847293673383,
+            "gripper_z": 1.050825493287056,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30350299717467955,
+              0.15737737472639768,
+              1.050825493287056
+            ],
+            "object_minus_gripper": [
+              0.005105883165343439,
+              0.004860623322211044,
+              -0.0021305129417565905
+            ],
+            "object_to_gripper_xy": 0.00704951785433298,
+            "object_to_gripper_z": -0.0021305129417565905,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.308608880340023,
+              0.13775467121693719,
+              1.0486949803452994
+            ],
+            "finger_b": [
+              0.2967982296114857,
+              0.16223799804860872,
+              1.0486949803452994
+            ],
+            "finger_midpoint": [
+              0.30270355497575435,
+              0.14999633463277295,
+              1.0486949803452994
+            ],
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+              0.1569144576787948,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12529273331165308,
+              -0.06043255329132091,
+              0.034169793128967285
+            ],
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+            "closest_contact_pad": [
+              0.1568949222564697,
+              -0.3895187675952911,
+              0.7900880753785525
+            ],
+            "closest_contact_pad_button": [
+              0.1568949222564697,
+              -0.3895187675952911,
+              0.768998384475708
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021089690902844516
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4d593773c9c13da6686cc3e73d494f466173eacc5cc214fe892a7b59903d9304",
+    "visual_seed": 3013709852886216818,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..762474f6370c353519dcd68b2d51bcf01b333358
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_97_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.15906934670269757,
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+              0.30124854120687206,
+              0.1541163511500223,
+              1.0493952410380247
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+              0.0049529955526752545,
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+            "object_to_gripper_z": -0.002151294252181968,
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+              0.1347929461265604,
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+            "finger_midpoint": [
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+              0.14693114641462898,
+              1.0472439467858428
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+              0.012138200288068585,
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+            "object_projection_between_fingers": 0.7990939771058697,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
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+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.0022769820138195396,
+            "max_held_gripper_z_dist": 0.0023094339819182963,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08665223320961662,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_projection_between_fingers": 0.5,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3126681158429129,
+              -0.33848948813575397,
+              0.8470193613023791
+            ],
+            "target_position": [
+              0.3048548366751824,
+              -0.3409143610280451,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008180913145649445,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18539218397107984,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193613023791,
+            "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": 0.07540907542470854,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08578392983227166,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1541825557341398,
+            "release_required_pad_clearance": 0.052891964916135834,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8232892346957624,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007943212985992432,
+            "max_z_decrease": 0.007943212985992432,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513965138955302,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007943212985992432,
+            "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": 0.021062972393088453,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007943212985992432,
+            "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": 0.007943234191382112,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16055476665496826,
+              -0.3971758186817169,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16055476665496826,
+              -0.3971758186817169,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16055125979301993,
+              -0.3966997858124164,
+              0.8080302249216189
+            ],
+            "closest_button": [
+              0.16054320335388184,
+              -0.39718362689018244,
+              0.7728939056396484
+            ],
+            "closest_ee_minus_button": [
+              8.056439138093285e-06,
+              0.0004838410777660562,
+              0.035136319281970474
+            ],
+            "button_min_z_position": [
+              0.16053645312786102,
+              -0.3971770405769348,
+              0.7688656449317932
+            ],
+            "min_active_finger_to_button": 0.1459083118566433,
+            "closest_active_finger": [
+              0.03346850723028183,
+              -0.4602130949497223,
+              0.810915470123291
+            ],
+            "closest_active_finger_button": [
+              0.16055692732334137,
+              -0.39717704057693476,
+              0.7767947316169739
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12708842009305954,
+              -0.06303605437278753,
+              0.03412073850631714
+            ],
+            "min_contact_pad_to_button": 0.021062972393088453,
+            "closest_contact_pad": [
+              0.16053645312786102,
+              -0.39777662020705984,
+              0.7899200817634718
+            ],
+            "closest_contact_pad_button": [
+              0.16053645312786102,
+              -0.3971770405769348,
+              0.7688656449317932
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005995796301250245,
+              0.021054436831678625
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5c54f281a16e862b22cac5723ff25d261d8fb392004479de06f43dfbbc49ec31",
+    "visual_seed": 5758510193890739018,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "runtime_workflow_digest": "05bf9a3a683c51bb5887a6ab28025f84a49a225915a7be2a4bbab5b0482185f6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ffcfb473217302338d2983cfd96edbcb64b1e44
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_98_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30063318247291637,
+              0.15871198983350518,
+              1.0481382389715441
+            ],
+            "current_z": 1.0481382389715441,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19155179116762333,
+            "gripper_z": 1.0512046149829766,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2950412360263697,
+              0.15364970574530823,
+              1.0512046149829766
+            ],
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+              0.005591946446546647,
+              0.00506228408819695,
+              -0.003066376011432448
+            ],
+            "object_to_gripper_xy": 0.007542982516926425,
+            "object_to_gripper_z": -0.003066376011432448,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30063318247291637,
+              0.13386563001789537,
+              1.0481382389715441
+            ],
+            "finger_b": [
+              0.28855615284765157,
+              0.15871198983350518,
+              1.0481382389715441
+            ],
+            "finger_midpoint": [
+              0.29459466766028397,
+              0.14628880992570026,
+              1.0481382389715441
+            ],
+            "object_minus_finger_midpoint": [
+              0.006038514812632401,
+              0.012423179907804921,
+              0.0
+            ],
+            "finger_gap": 0.027626006599873857,
+            "fingertip_max_gap": 0.09437524570026676,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01381300329993694,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481382389715441,
+            "object_top_z": 1.094483258239881,
+            "finger_top_clearance": 0.046345019268336785,
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+            "object_projection_between_fingers": 0.8088897235079369,
+            "object_to_finger_line_xy": 0.010861874751542242,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04968762285013338,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.157404171975671,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
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+      912408632159906142,
+      5099940445753200938,
+      3306769215366559685
+    ],
+    "workflow_spec_digest": "e1bb8f251b4c20e7f6836bcd60f9260c688dfe22525342e5b66984f1dba403bc",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ca6e9cda53f3952d3833177a4292dc52863010ea1c868c9b7cd0567898aab5cf",
+    "visual_seed": 1160972933533247985,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      912408632159906142,
+      5099940445753200938,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa0ea16e1c3e117f6a5e24785863bc1744d52c2b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00023/results/episode_99_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+          "skill": "pick",
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+              1.0467405607454185
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+              1.0491065628087934
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+              0.0050697690705985565,
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+              0.13358348519152866,
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+              0.1458671537357425,
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+            "stable_success_frames": 219,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.15655784818695373,
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+              0.16117019610831718,
+              1.236926310058548
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+            "held_shake_count": 5,
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+              0.14840670504864661,
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+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+              ],
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+        "post_done_wait_frames": 0,
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.5035732287980653,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "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",
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+}
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cf094d243d5ca49db887b9014ac8572daaf8d42c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/dataset/meta/randomization_episodes.jsonl
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..89e4c78911d18558ae5a0fbd82718857dc074823
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_hte_00024
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Shake the current contents of
+    beaker b once. Place beaker b on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00024
+  reproducibility:
+    enabled: true
+    layout_id: layout_00024
+    action_seed: 4283508074911090697
+    step_seeds:
+    - 624659677329847726
+    - 1272775230356696008
+    - 6598834107714139108
+    - 1327563167362417537
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.1984
+      - 0.1984
+      'y':
+      - 0.0579
+      - 0.0579
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2195
+      - 0.2195
+      'y':
+      - -0.1019
+      - -0.1019
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3275
+      - 0.3275
+      'y':
+      - 0.2102
+      - 0.2102
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2547
+      - 0.2547
+      'y':
+      - -0.3251
+      - -0.3251
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
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+- prim_path: /World/Camera2
+  name: camera_2
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+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
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+  - 512
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+  - -0.03642
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+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c2a115ce41bfd34541eb64965a3638dd70768af
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_0_success.json
@@ -0,0 +1,926 @@
+{
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+                "fr3_leftfinger",
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+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
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+                "fr3_rightfinger",
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+                "ridgebase_ur5e",
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+                "robot",
+                "robotiq_2f85",
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+                "split_aloha",
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007870495319366455,
+            "max_z_decrease": 0.007870495319366455,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351441667212475,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007870495319366455,
+            "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": 0.02111512398296068,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007870495319366455,
+            "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": 0.007870506350486526,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16529402136802668,
+              -0.3824371695518493,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16529402136802668,
+              -0.3824371695518493,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16624645047915532,
+              -0.3821965585759542,
+              0.8078336294186693
+            ],
+            "closest_button": [
+              0.1652879416942596,
+              -0.3824442327022552,
+              0.7727034091949463
+            ],
+            "closest_ee_minus_button": [
+              0.0009585087848957285,
+              0.0002476741263010007,
+              0.03513022022372303
+            ],
+            "button_min_z_position": [
+              0.16528098285198206,
+              -0.3824390769004821,
+              0.7689383625984192
+            ],
+            "min_active_finger_to_button": 0.14520557725585104,
+            "closest_active_finger": [
+              0.0393175408244133,
+              -0.44603389501571655,
+              0.8107420206069946
+            ],
+            "closest_active_finger_button": [
+              0.16529603302478788,
+              -0.38243937492370605,
+              0.7765394449234009
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12597849220037458,
+              -0.0635945200920105,
+              0.03420257568359375
+            ],
+            "min_contact_pad_to_button": 0.02111512398296068,
+            "closest_contact_pad": [
+              0.16528098285198206,
+              -0.3833246956225462,
+              0.7900349059241617
+            ],
+            "closest_contact_pad_button": [
+              0.16528098285198206,
+              -0.3824390769004821,
+              0.7689383625984192
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008856187220640521,
+              0.02109654332574251
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c055c7fd2da6762b4999b93c573869aefeb5eb4d8c746efb0d43cf1ee536a17",
+    "visual_seed": 2181093173519988391,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd172c9a8db85da40b2be68a42262ff66b93abf2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_100_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24497330849416812,
+              -0.10451599105716765,
+              1.0452816400859182
+            ],
+            "current_z": 1.0452816400859182,
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+            "initial_z": 0.7565865876204962,
+            "lift_margin": 0.18869505246542195,
+            "gripper_z": 1.0489121113649205,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24049866738273873,
+              -0.10893901897447782,
+              1.0489121113649205
+            ],
+            "object_minus_gripper": [
+              0.004474641111429395,
+              0.004423027917310168,
+              -0.0036304712790022897
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+            "object_to_gripper_xy": 0.006291707958368635,
+            "object_to_gripper_z": -0.0036304712790022897,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24497330849416812,
+              -0.1286891447607267,
+              1.0452816400859182
+            ],
+            "finger_b": [
+              0.23412950037786737,
+              -0.10451599105716765,
+              1.0452816400859182
+            ],
+            "finger_midpoint": [
+              0.23955140443601775,
+              -0.11660256790894719,
+              1.0452816400859182
+            ],
+            "object_minus_finger_midpoint": [
+              0.005421904058150379,
+              0.012086576851779537,
+              0.0
+            ],
+            "finger_gap": 0.02649395279000552,
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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": 0.009893919658003007,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048598477501235846,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6706619053826708,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24068733472491002,
+              -0.10569868800173826,
+              1.2433765385975455
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+            "held_position": [
+              0.24541538627575812,
+              -0.10115980726591253,
+              1.2402464751400115
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0072631403022189065,
+            "max_held_gripper_dist": 0.0072666409322180965,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031300634575339714,
+            "max_held_gripper_z_dist": 0.0036631063907637262,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0858619434345028,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.24541538627575812,
+              -0.12491513080897215,
+              1.2402464751400115
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+              -0.11303746903744234,
+              1.2402464751400115
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+            "held_grasp_object_position": [
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+              -0.10115980726591253,
+              1.2402464751400115
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+            "held_grasp_finger_gap": 0.02550007747988122,
+            "held_grasp_max_gap": 0.12496597826480865,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023166828628511247,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03895249817046797,
+              -0.99042768769384,
+              -0.13242242384019762
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004460048083757142,
+            "held_grasp_line_xy_max_dist": 0.04748298913240433,
+            "held_grasp_object_top_z": 0.04520069807767868,
+            "held_grasp_top_clearance": 0.033256182224762725,
+            "held_grasp_min_top_clearance": 0.013560209423303604
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
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+                "/World/target_beaker"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "geometry",
+                "gripper",
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+                "joint1",
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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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31629541636540337,
+              -0.32265495732417326,
+              0.8470196860053665
+            ],
+            "target_position": [
+              0.3118184446747208,
+              -0.32472463342385,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00493222411055562,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18544518012311853,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196860053665,
+            "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": 0.07550078646287504,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08713884500441903,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1540828138846094,
+            "release_required_pad_clearance": 0.053569422502209516,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.149307936274163,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007795572280883789,
+            "max_z_decrease": 0.007795572280883789,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517436436668908,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007795572280883789,
+            "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": 0.021106099338841333,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007795572280883789,
+            "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": 0.00779559661744088,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16751837730407715,
+              -0.3809860944747924,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16751837730407715,
+              -0.3809860944747924,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16818510453874377,
+              -0.37918287828000086,
+              0.8078591249411167
+            ],
+            "closest_button": [
+              0.1675143986940384,
+              -0.380995899438858,
+              0.7727379202842712
+            ],
+            "closest_ee_minus_button": [
+              0.0006707058447053826,
+              0.00181302115885712,
+              0.03512120465684543
+            ],
+            "button_min_z_position": [
+              0.16749922931194305,
+              -0.380989670753479,
+              0.7690132856369019
+            ],
+            "min_active_finger_to_button": 0.1448023222774056,
+            "closest_active_finger": [
+              0.04109013080596924,
+              -0.44270604848861694,
+              0.8108490109443665
+            ],
+            "closest_active_finger_button": [
+              0.16752123832702637,
+              -0.3809888958930969,
+              0.7765870690345764
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12643110752105713,
+              -0.06171715259552002,
+              0.03426194190979004
+            ],
+            "min_contact_pad_to_button": 0.021106099338841333,
+            "closest_contact_pad": [
+              0.16749922931194305,
+              -0.380989670753479,
+              0.7901193849757432
+            ],
+            "closest_contact_pad_button": [
+              0.16749922931194305,
+              -0.380989670753479,
+              0.7690132856369019
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021106099338841333
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0aa65c20c1dc88cc63a486ae60c3d3c9fb4452c69f1d958d4bc9f8e5131dc83c",
+    "visual_seed": 4823848357799282176,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..abee7be3468a0ee6645faae9a83065369f74c2c7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_101_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              -0.09573852958897013,
+              1.0448266678161866
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+            "current_z": 1.0448266678161866,
+            "required_z": 0.8565866627264923,
+            "initial_z": 0.7565866627264923,
+            "lift_margin": 0.1882400050896943,
+            "gripper_z": 1.0484442646983523,
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+            "gripper_position": [
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+              -0.10026022296572122,
+              1.0484442646983523
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+            "object_minus_gripper": [
+              0.004497886232748438,
+              0.004521693376751096,
+              -0.0036175968821656745
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+            "object_to_gripper_xy": 0.006377828122182555,
+            "object_to_gripper_z": -0.0036175968821656745,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24024053734780365,
+              -0.11976589868963534,
+              1.0448266678161866
+            ],
+            "finger_b": [
+              0.22895666930220532,
+              -0.09573852958897013,
+              1.0448266678161866
+            ],
+            "finger_midpoint": [
+              0.23459860332500448,
+              -0.10775221413930273,
+              1.0448266678161866
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056419340227991666,
+              0.01201368455033261,
+              0.0
+            ],
+            "finger_gap": 0.026545058748665012,
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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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+              -0.3791884779930114,
+              0.7692733407020569
+            ],
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+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021361407646579567,
+              0.021096919945890025
+            ]
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "118b8cbe3e60a676d160bd35dee39368901112608f7e20f482d24018480d154d",
+    "visual_seed": 5472774341476014222,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f7b61e3a01933fa0ecc3490d86a120b55538767
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_10_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              -0.09624780527062951,
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+              1.050230997353743
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+              0.004420636493709829,
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+              -0.12036329449029042,
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+              -0.10830554988045996,
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 203,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.8084375599031817
+            ],
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+            "xy_dist": 0.005179302060584816,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18524342116053213,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019521623093,
+            "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": 0.07590646441995191,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08758717667179437,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15303120179959903,
+            "release_required_pad_clearance": 0.05379358833589719,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.595691568493993,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007982194423675537,
+            "max_z_decrease": 0.007982194423675537,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521372735831212,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007982194423675537,
+            "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": 0.021154818338979427,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007982194423675537,
+            "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": 0.007982219927056354,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16300959885120386,
+              -0.3859363198280334,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16300959885120386,
+              -0.3859363198280334,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16538702344719344,
+              -0.3863981386143728,
+              0.8077745267135881
+            ],
+            "closest_button": [
+              0.16300286352634427,
+              -0.3859453797340393,
+              0.7726445198059082
+            ],
+            "closest_ee_minus_button": [
+              0.0023841599208491715,
+              -0.00045275888033347034,
+              0.03513000690767987
+            ],
+            "button_min_z_position": [
+              0.16298961639404294,
+              -0.3859391212463379,
+              0.7688266634941101
+            ],
+            "min_active_finger_to_button": 0.14382689496360457,
+            "closest_active_finger": [
+              0.024176135659217834,
+              -0.3705694079399109,
+              0.8107534050941467
+            ],
+            "closest_active_finger_button": [
+              0.16301146149635312,
+              -0.3859390616416931,
+              0.7764794826507568
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1388353258371353,
+              0.015369653701782227,
+              0.03427392244338989
+            ],
+            "min_contact_pad_to_button": 0.021154818338979427,
+            "closest_contact_pad": [
+              0.16298961639404294,
+              -0.38758227636428827,
+              0.7899175710187657
+            ],
+            "closest_contact_pad_button": [
+              0.16298961639404294,
+              -0.3859391212463379,
+              0.7688266634941101
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001643155117950379,
+              0.02109090752465559
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "27eafd53cea97cdbbef4f9adb026483616d5adb15952c38a255aab70b20719ee",
+    "visual_seed": 6964992904039111897,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c47a5fd0ed197d228a9103d18ea3636724b08de9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_11_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23961873524554916,
+              -0.10257744495554853,
+              1.0461574424923799
+            ],
+            "current_z": 1.0461574424923799,
+            "required_z": 0.8565866188956855,
+            "initial_z": 0.7565866188956856,
+            "lift_margin": 0.1895708235966943,
+            "gripper_z": 1.0498849007749411,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23515384941736428,
+              -0.10706714477755357,
+              1.0498849007749411
+            ],
+            "object_minus_gripper": [
+              0.0044648858281848836,
+              0.004489699822005033,
+              -0.003727458282561269
+            ],
+            "object_to_gripper_xy": 0.0063318725469199266,
+            "object_to_gripper_z": -0.003727458282561269,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23961873524554916,
+              -0.12666403701770676,
+              1.0461574424923799
+            ],
+            "finger_b": [
+              0.22843040382958363,
+              -0.10257744495554853,
+              1.0461574424923799
+            ],
+            "finger_midpoint": [
+              0.2340245695375664,
+              -0.11462074098662764,
+              1.0461574424923799
+            ],
+            "object_minus_finger_midpoint": [
+              0.005594165707982768,
+              0.012043296031079107,
+              0.0
+            ],
+            "finger_gap": 0.026558288292777926,
+            "fingertip_max_gap": 0.0927335076245262,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013279144146388958,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461574424923799,
+            "object_top_z": 1.0918207396169561,
+            "finger_top_clearance": 0.045663297124576285,
+            "fingertip_min_top_clearance": 0.013698989137372886,
+            "object_projection_between_fingers": 0.8225277387178808,
+            "object_to_finger_line_xy": 0.010147068655244378,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0488667538122631,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6533021968703079,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5153b542c76c99b97857f674daaa52f45bcc9184da6410a223fb2b27755fd582",
+    "visual_seed": 9110556599568349488,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      1272775230356696008,
+      6598834107714139108,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b177fdc390d0f7f6f6697716e01a8b80e6e2843
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_12_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.004570257984273615,
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+              -0.10801288365450105,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+        "target": "beaker_b",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              -0.09365328933273775,
+              1.2388200858649656
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+              -0.10549688697960011,
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+              -0.09365328933273775,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15518854789958664,
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+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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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
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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+              "enabled": true
+            },
+            "status": "active",
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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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00792396068572998,
+            "max_z_decrease": 0.00792396068572998,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035173157263645144,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00792396068572998,
+            "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": 0.021101427315968587,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00792396068572998,
+            "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": 0.007923986916573015,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16220921277999878,
+              -0.38612747192382807,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16220921277999878,
+              -0.38612747192382807,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16368016919924125,
+              -0.38647266119788687,
+              0.8079166873671345
+            ],
+            "closest_button": [
+              0.16219863295555118,
+              -0.38613530993461603,
+              0.7727763652801514
+            ],
+            "closest_ee_minus_button": [
+              0.0014815362436900736,
+              -0.0003373512632708353,
+              0.035140322086983145
+            ],
+            "button_min_z_position": [
+              0.16218890249729156,
+              -0.3861292600631714,
+              0.7688848972320557
+            ],
+            "min_active_finger_to_button": 0.1446824448718828,
+            "closest_active_finger": [
+              0.022303611040115356,
+              -0.3723422884941101,
+              0.8108134269714355
+            ],
+            "closest_active_finger_button": [
+              0.1622101664543152,
+              -0.3861300945281982,
+              0.7766218781471252
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13990655541419986,
+              0.01378780603408808,
+              0.0341915488243103
+            ],
+            "min_contact_pad_to_button": 0.021101427315968587,
+            "closest_contact_pad": [
+              0.16218890249729156,
+              -0.3874473168760476,
+              0.7899451194770638
+            ],
+            "closest_contact_pad_button": [
+              0.16218890249729156,
+              -0.3861292600631714,
+              0.7688848972320557
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013180568128762227,
+              0.021060222245008142
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bce3dc509b735054d4fac2139fac562ec6025202989587949383ae4f2d9a1bc2",
+    "visual_seed": 1148069356588708175,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..36cc69181447bd43de502a606ae97917c11ccaed
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_13_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2460726033586201,
+              -0.10041328083037028,
+              1.0478560366850653
+            ],
+            "current_z": 1.0478560366850653,
+            "required_z": 0.8565866823788496,
+            "initial_z": 0.7565866823788496,
+            "lift_margin": 0.19126935430621572,
+            "gripper_z": 1.0514399395961511,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2416555699171503,
+              -0.10493010810767044,
+              1.0514399395961511
+            ],
+            "object_minus_gripper": [
+              0.00441703344146982,
+              0.004516827277300156,
+              -0.00358390291108579
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+            "object_to_gripper_xy": 0.006317587599394682,
+            "object_to_gripper_z": -0.00358390291108579,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2460726033586201,
+              -0.12431688855114804,
+              1.0478560366850653
+            ],
+            "finger_b": [
+              0.2347289362390735,
+              -0.10041328083037028,
+              1.0478560366850653
+            ],
+            "finger_midpoint": [
+              0.2404007697988468,
+              -0.11236508469075916,
+              1.0478560366850653
+            ],
+            "object_minus_finger_midpoint": [
+              0.005671833559773298,
+              0.011951803860388882,
+              0.0
+            ],
+            "finger_gap": 0.02645867052192738,
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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": 1.093296620020803,
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+            "object_projection_between_fingers": 0.8161892484503174,
+            "object_to_finger_line_xy": 0.010248231055903199,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04862583517240872,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6224488438533093,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2397156538838983,
+              -0.10245653504255604,
+              1.2434762137656092
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+            "held_position": [
+              0.24444386520432945,
+              -0.09785636218250256,
+              1.2404324210958086
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00726513912115645,
+            "max_held_gripper_dist": 0.0072690577830213455,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030437926698005935,
+            "max_held_gripper_z_dist": 0.003585152740275044,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08588360846816606,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24444386520432945,
+              -0.12142708877840731,
+              1.2404324210958086
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+              1.2404324210958086
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+              -0.10964172548045494,
+              1.2404324210958086
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+            "held_grasp_object_position": [
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+              -0.09785636218250256,
+              1.2404324210958086
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+            "held_grasp_finger_gap": 0.025375939611313996,
+            "held_grasp_max_gap": 0.1249658590555191,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.022856637431961698,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.050556532894852534,
+              -0.9898662429587436,
+              -0.1326983723803479
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004392052601578166,
+            "held_grasp_line_xy_max_dist": 0.04748292952775955,
+            "held_grasp_object_top_z": 0.04520071670413017,
+            "held_grasp_top_clearance": 0.033297168840815045,
+            "held_grasp_min_top_clearance": 0.013560215011239052
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31721057168446376,
+              -0.3185819643211042,
+              0.8470195611859319
+            ],
+            "target_position": [
+              0.31152725294871597,
+              -0.32144345164209887,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006363035560195708,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18633094776933695,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195611859319,
+            "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": 0.07519062652087627,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08503431749924005,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15575681613788633,
+            "release_required_pad_clearance": 0.05251715874962003,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.10467761675477014,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007577240467071533,
+            "max_z_decrease": 0.007577240467071533,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035133137098516676,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007577240467071533,
+            "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": 0.021172158059868385,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007577240467071533,
+            "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": 0.007577265696922546,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16722717881202703,
+              -0.377704918384552,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16722717881202703,
+              -0.377704918384552,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1673332904667768,
+              -0.3755453661050501,
+              0.8070299832733838
+            ],
+            "closest_button": [
+              0.16721482574939733,
+              -0.3777087330818177,
+              0.7719637155532837
+            ],
+            "closest_ee_minus_button": [
+              0.00011846471737947395,
+              0.0021633669767675556,
+              0.03506626772010013
+            ],
+            "button_min_z_position": [
+              0.16720815002918243,
+              -0.37770941853523254,
+              0.7692316174507141
+            ],
+            "min_active_finger_to_button": 0.14517764386728885,
+            "closest_active_finger": [
+              0.03901515156030655,
+              -0.4363957345485687,
+              0.810027003288269
+            ],
+            "closest_active_finger_button": [
+              0.16723239421844485,
+              -0.377708911895752,
+              0.7754908800125122
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1282172426581383,
+              -0.05868682265281672,
+              0.034536123275756836
+            ],
+            "min_contact_pad_to_button": 0.021172158059868385,
+            "closest_contact_pad": [
+              0.16720815002918243,
+              -0.37770941853523254,
+              0.7904037755105825
+            ],
+            "closest_contact_pad_button": [
+              0.16720815002918243,
+              -0.37770941853523254,
+              0.7692316174507141
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021172158059868385
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4edb1a4dac7f1d9eb543063d9a5a8a00727b805f829ea1f9face62534dee2c0c",
+    "visual_seed": 7426578998588556951,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c5227ee769d1d5be518bbccfc484cacae9d4016
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24588291503091378,
+              -0.1049402460259964,
+              1.0454468239180574
+            ],
+            "current_z": 1.0454468239180574,
+            "required_z": 0.8565865994951655,
+            "initial_z": 0.7565865994951655,
+            "lift_margin": 0.18886022442289196,
+            "gripper_z": 1.0490296734505367,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2416244985621803,
+              -0.1093900192048703,
+              1.0490296734505367
+            ],
+            "object_minus_gripper": [
+              0.0042584164687334836,
+              0.004449773178873906,
+              -0.0035828495324792264
+            ],
+            "object_to_gripper_xy": 0.00615910644205847,
+            "object_to_gripper_z": -0.0035828495324792264,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24588291503091378,
+              -0.12871578399817102,
+              1.0454468239180574
+            ],
+            "finger_b": [
+              0.23453455566617334,
+              -0.1049402460259964,
+              1.0454468239180574
+            ],
+            "finger_midpoint": [
+              0.24020873534854356,
+              -0.1168280150120837,
+              1.0454468239180574
+            ],
+            "object_minus_finger_midpoint": [
+              0.005674179682370217,
+              0.011887768986087302,
+              0.0
+            ],
+            "finger_gap": 0.026345046330147327,
+            "fingertip_max_gap": 0.09286118019253972,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013172523165073656,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0454468239180574,
+            "object_top_z": 1.0912945073116427,
+            "finger_top_clearance": 0.04584768339358525,
+            "fingertip_min_top_clearance": 0.013754305018075558,
+            "object_projection_between_fingers": 0.8144468947570731,
+            "object_to_finger_line_xy": 0.010241521142800775,
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+              -0.0018266741609918036,
+              0.02108767621586327
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b3344c58f93b0dfec5141433723426487e16d9b0352db30a5c591a8d3ec09dec",
+    "visual_seed": 6625492896097199777,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d173d4ea61bc6a07938ceb3d2f061636a2caa520
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_15_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              -0.10253918172636457,
+              1.0458790211541842
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.10706033312928377,
+              1.0494494002248564
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+              0.004521151402919199,
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+            "fingertip_source": "active_contact_pad_positions",
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+              -0.12651627699885398,
+              1.0458790211541842
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+              -0.10253918172636457,
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+              -0.11452772936260927,
+              1.0458790211541842
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+              0.011988547636244698,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 201,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_held_gripper_z_dist": 0.003550632585503921,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_line_xy_max_dist": 0.04748298168182373,
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+            "held_grasp_min_top_clearance": 0.013560219481587409
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "object_z": 0.8470195661800698,
+            "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": 0.0753969003386333,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854508992595993,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1542865425972127,
+            "release_required_pad_clearance": 0.05272544962979965,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5035765922786561,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007504701614379883,
+            "max_z_decrease": 0.007504701614379883,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512252327233701,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007504701614379883,
+            "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": 0.021192881078839133,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007504701614379883,
+            "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": 0.007504723163029539,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1640484631061554,
+              -0.38464620709419245,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1640484631061554,
+              -0.38464620709419245,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16437114308300563,
+              -0.38516978790798134,
+              0.8077540876401458
+            ],
+            "closest_button": [
+              0.164037212729454,
+              -0.38464924693107605,
+              0.7726370096206665
+            ],
+            "closest_ee_minus_button": [
+              0.0003339303535516147,
+              -0.0005205409769052927,
+              0.035117078019479275
+            ],
+            "button_min_z_position": [
+              0.16403067111968994,
+              -0.3846488296985626,
+              0.7693041563034058
+            ],
+            "min_active_finger_to_button": 0.14577808893448363,
+            "closest_active_finger": [
+              0.023380964994430542,
+              -0.36783838272094727,
+              0.8102154731750488
+            ],
+            "closest_active_finger_button": [
+              0.16405139863491058,
+              -0.38465026021003723,
+              0.7758579254150391
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14067043364048004,
+              0.016811877489089966,
+              0.034357547760009766
+            ],
+            "min_contact_pad_to_button": 0.021192881078839133,
+            "closest_contact_pad": [
+              0.16403067111968994,
+              -0.3865493750149218,
+              0.7904116463465701
+            ],
+            "closest_contact_pad_button": [
+              0.16403067111968994,
+              -0.3846488296985626,
+              0.7693041563034058
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019005453163591923,
+              0.021107490043164367
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fdcd3f4de91d37eef6ac2490922f2aee79262daa226c1b0da9a582a1faa411b1",
+    "visual_seed": 1768228454734442482,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dc89dcb72bcf986e714ea6a3bc29cc1fa9ede66
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_16_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23817902692228432,
+              -0.10124951755526244,
+              1.0468701995120906
+            ],
+            "current_z": 1.0468701995120906,
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+            "lift_margin": 0.19028360970794955,
+            "gripper_z": 1.0506220110744071,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23382701947502793,
+              -0.10564528718280564,
+              1.0506220110744071
+            ],
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+              0.00435200744725639,
+              0.004395769627543192,
+              -0.0037518115623165205
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+            "object_to_gripper_xy": 0.0061856898919527385,
+            "object_to_gripper_z": -0.0037518115623165205,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23817902692228432,
+              -0.12531893161969213,
+              1.0468701995120906
+            ],
+            "finger_b": [
+              0.22722361195500235,
+              -0.10124951755526244,
+              1.0468701995120906
+            ],
+            "finger_midpoint": [
+              0.23270131943864333,
+              -0.11328422458747728,
+              1.0468701995120906
+            ],
+            "object_minus_finger_midpoint": [
+              0.005477707483640987,
+              0.012034707032214834,
+              0.0
+            ],
+            "finger_gap": 0.02644537408527834,
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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": 1.0468701995120906,
+            "object_top_z": 1.093657730460877,
+            "finger_top_clearance": 0.046787530948786404,
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+            "object_projection_between_fingers": 0.8283838182664061,
+            "object_to_finger_line_xy": 0.0099711359062208,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05006421685255634,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1343442974688487,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
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+    "visual_seed": 2690752757849292223,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..138223ad918b1722d38077f12f7fad5c576b159c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_17_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              1.045388325402206
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+              0.004497368455078102,
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+              1.045388325402206
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+              -0.09433405378536411,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
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+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "desk",
+                "floor",
+                "ground",
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+            "status": "active",
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+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007651627063751221,
+            "max_z_decrease": 0.007651627063751221,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035144091567683375,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007651627063751221,
+            "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": 0.021100912421253944,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007651627063751221,
+            "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": 0.007651644956139447,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1595127433538437,
+              -0.3860407173633575,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1595127433538437,
+              -0.3860407173633575,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1593951409433783,
+              -0.38660359474583395,
+              0.8081251704620619
+            ],
+            "closest_button": [
+              0.15950258076190948,
+              -0.3860478699207305,
+              0.7729856371879578
+            ],
+            "closest_ee_minus_button": [
+              -0.00010743981853117424,
+              -0.0005557248251034652,
+              0.03513953327410413
+            ],
+            "button_min_z_position": [
+              0.1594962328672409,
+              -0.38604182004928583,
+              0.7691572308540344
+            ],
+            "min_active_finger_to_button": 0.14619986245026986,
+            "closest_active_finger": [
+              0.017997458577156067,
+              -0.3726419508457184,
+              0.8104283809661865
+            ],
+            "closest_active_finger_button": [
+              0.15951298177242276,
+              -0.3860428035259246,
+              0.7762498259544373
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1415155231952667,
+              0.013400852680206243,
+              0.03417855501174927
+            ],
+            "min_contact_pad_to_button": 0.021100912421253944,
+            "closest_contact_pad": [
+              0.1594962328672409,
+              -0.38755374790836344,
+              0.7902039070561898
+            ],
+            "closest_contact_pad_button": [
+              0.1594962328672409,
+              -0.38604182004928583,
+              0.7691572308540344
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015119278590776108,
+              0.02104667620215539
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1a97d52990904b732c59724369a5afe577c643672d9858f9cf858222e4766489",
+    "visual_seed": 6960000104642954647,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a7a5905162b953355e1dcd23d4005b0d473d7e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2398414391640123,
+              -0.09960545324364162,
+              1.0474601967478292
+            ],
+            "current_z": 1.0474601967478292,
+            "required_z": 0.8565865740195343,
+            "initial_z": 0.7565865740195343,
+            "lift_margin": 0.1908736227282949,
+            "gripper_z": 1.051091892966708,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23552861201034622,
+              -0.10392736046978401,
+              1.051091892966708
+            ],
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+              0.004312827153666071,
+              0.004321907226142396,
+              -0.0036316962188787105
+            ],
+            "object_to_gripper_xy": 0.006105682609568012,
+            "object_to_gripper_z": -0.0036316962188787105,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2398414391640123,
+              -0.12370469698128177,
+              1.0474601967478292
+            ],
+            "finger_b": [
+              0.22917821552873763,
+              -0.09960545324364162,
+              1.0474601967478292
+            ],
+            "finger_midpoint": [
+              0.23450982734637496,
+              -0.1116550751124617,
+              1.0474601967478292
+            ],
+            "object_minus_finger_midpoint": [
+              0.005331611817637333,
+              0.012049621868820082,
+              0.0
+            ],
+            "finger_gap": 0.026352948355394094,
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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": 1.0928242960951577,
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+            "fingertip_min_top_clearance": 0.013609229804198564,
+            "object_projection_between_fingers": 0.8362736374754189,
+            "object_to_finger_line_xy": 0.009751304558028704,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048486451879963394,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.939375698530022,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23652171389502363,
+              -0.099643770889963,
+              1.2427330656094002
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+            "held_position": [
+              0.24103957108863666,
+              -0.09513967752664626,
+              1.2396083892883583
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007103625325046024,
+            "max_held_gripper_dist": 0.007108759734535591,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031246763210419637,
+            "max_held_gripper_z_dist": 0.003660940622742359,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08524028796086311,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24103957108863666,
+              -0.11863567061839017,
+              1.2396083892883583
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+              0.23647185263358447,
+              -0.10688767407251822,
+              1.2396083892883583
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+            "held_grasp_object_position": [
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+              -0.09513967752664626,
+              1.2396083892883583
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+            "held_grasp_finger_gap": 0.025209480337876365,
+            "held_grasp_max_gap": 0.12496591120958328,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02301939834270167,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02718379419599084,
+              -0.9902851983614299,
+              -0.13636813131877057
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00454181543793404,
+            "held_grasp_line_xy_max_dist": 0.04748295560479164,
+            "held_grasp_object_top_z": 0.045200686901807785,
+            "held_grasp_top_clearance": 0.03344265189360221,
+            "held_grasp_min_top_clearance": 0.013560206070542336
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3095245850883863,
+              -0.32512520898218644,
+              0.8470195293807372
+            ],
+            "target_position": [
+              0.30546665200278916,
+              -0.3267322090416833,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004364546954542591,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18444662299932135,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195293807372,
+            "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": 0.07562767077129333,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08798442396515403,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15267691248685655,
+            "release_required_pad_clearance": 0.05399221198257702,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.99395782025296,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00744396448135376,
+            "max_z_decrease": 0.00744396448135376,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520876662281305,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00744396448135376,
+            "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": 0.021098891681674448,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00744396448135376,
+            "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": 0.007443987234556564,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16116657853126526,
+              -0.38299366831779474,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16116657853126526,
+              -0.38299366831779474,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15985832319628432,
+              -0.3808817107086289,
+              0.8081299960517916
+            ],
+            "closest_button": [
+              0.16116194427013392,
+              -0.38300174474716187,
+              0.7730093002319336
+            ],
+            "closest_ee_minus_button": [
+              -0.001303621073849598,
+              0.0021200340385329475,
+              0.035120695819857994
+            ],
+            "button_min_z_position": [
+              0.16114851832389832,
+              -0.3829972147941589,
+              0.7693648934364319
+            ],
+            "min_active_finger_to_button": 0.14644681988526467,
+            "closest_active_finger": [
+              0.03152605891227722,
+              -0.4418737292289734,
+              0.8105350732803345
+            ],
+            "closest_active_finger_button": [
+              0.16116869449615479,
+              -0.38299611210823054,
+              0.7762876749038696
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12964263558387756,
+              -0.05887761712074285,
+              0.034247398376464844
+            ],
+            "min_contact_pad_to_button": 0.021098891681674448,
+            "closest_contact_pad": [
+              0.16114851832389832,
+              -0.3829972147941589,
+              0.7904637851181063
+            ],
+            "closest_contact_pad_button": [
+              0.16114851832389832,
+              -0.3829972147941589,
+              0.7693648934364319
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021098891681674448
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c3104fd0f3be477c734311f09faf644ed1e01c4a0476682f46e7f7d38a1ade3",
+    "visual_seed": 7127331508156632295,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..229aeae2fbf93f203a57160564a371e1f8dee453
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_19_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              -0.09905551074871519,
+              1.0456542326366813
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+            "current_z": 1.0456542326366813,
+            "required_z": 0.8565866492904346,
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+            "lift_margin": 0.18906758334624674,
+            "gripper_z": 1.049750874839286,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.2342548541386471,
+              -0.10343123223531492,
+              1.049750874839286
+            ],
+            "object_minus_gripper": [
+              0.00448479875679994,
+              0.004375721486599732,
+              -0.00409664220260475
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+            "object_to_gripper_xy": 0.006265808680233131,
+            "object_to_gripper_z": -0.00409664220260475,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23873965289544705,
+              -0.12331538159180486,
+              1.0456542326366813
+            ],
+            "finger_b": [
+              0.22808320943233668,
+              -0.09905551074871519,
+              1.0456542326366813
+            ],
+            "finger_midpoint": [
+              0.23341143116389185,
+              -0.11118544617026002,
+              1.0456542326366813
+            ],
+            "object_minus_finger_midpoint": [
+              0.005328221731555199,
+              0.012129935421544835,
+              0.0
+            ],
+            "finger_gap": 0.026497190805929976,
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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": 1.0456542326366813,
+            "object_top_z": 1.092263410886309,
+            "finger_top_clearance": 0.046609178249627625,
+            "fingertip_min_top_clearance": 0.013982753474888287,
+            "object_projection_between_fingers": 0.8382572197228879,
+            "object_to_finger_line_xy": 0.009756654732013635,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05030082163883644,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "95d86e44f8799a5ad44379f127b19740b0870fec4f3a4bdbb25c1abe40ff4a54",
+    "visual_seed": 7886269030552090767,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ab5e6bb3aabee72666911eff0ee950c742fa19b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_20_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              -0.09847967891428261,
+              1.0471238373985146
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+            "gripper_z": 1.0511102996014299,
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+            "gripper_position": [
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+              -0.10311197370582574,
+              1.0511102996014299
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+              0.004632294791543132,
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+              -0.12285513454855887,
+              1.0471238373985146
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+              -0.11066740673142074,
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+              0.01218772781713813,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05084315186138555,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_held_gripper_z_dist": 0.004046548432545816,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
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+          "metrics": {
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08838055356166634,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15226985014649552,
+            "release_required_pad_clearance": 0.05419027678083317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.396470542406798,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007369637489318848,
+            "max_z_decrease": 0.007369637489318848,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520209739061574,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007369637489318848,
+            "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": 0.021142030855495892,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007369637489318848,
+            "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": 0.007369656553002242,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1602956354618072,
+              -0.3766015470027923,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1602956354618072,
+              -0.3766015470027923,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1621519365289663,
+              -0.37538102189503825,
+              0.804633916950607
+            ],
+            "closest_button": [
+              0.16027945280075068,
+              -0.37660574913024897,
+              0.7695029973983765
+            ],
+            "closest_ee_minus_button": [
+              0.0018724837282156348,
+              0.0012247272352107208,
+              0.03513091955223058
+            ],
+            "button_min_z_position": [
+              0.1602794080972671,
+              -0.37660574913024897,
+              0.7694392204284668
+            ],
+            "min_active_finger_to_button": 0.14357906187381753,
+            "closest_active_finger": [
+              0.034286610782146454,
+              -0.4362318515777588,
+              0.8107466101646423
+            ],
+            "closest_active_finger_button": [
+              0.16029913723468775,
+              -0.37660390138626093,
+              0.7763911485671997
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1260125264525413,
+              -0.05962795019149786,
+              0.03435546159744263
+            ],
+            "min_contact_pad_to_button": 0.021142030855495892,
+            "closest_contact_pad": [
+              0.1602794080972671,
+              -0.3767652697870953,
+              0.7905806494685005
+            ],
+            "closest_contact_pad_button": [
+              0.1602794080972671,
+              -0.37660574913024897,
+              0.7694392204284668
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00015952065684632366,
+              0.021141429040033688
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9879f15c212f912e79c95dfe12193c17ea11ba169acf9eec42212e64926970d1",
+    "visual_seed": 4707281058157636803,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4aa9fbeeab51366321cd83ab26ddad2a7946470b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_21_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24010135776661673,
+              -0.09659219308383532,
+              1.047015008283921
+            ],
+            "current_z": 1.047015008283921,
+            "required_z": 0.8565866108467477,
+            "initial_z": 0.7565866108467477,
+            "lift_margin": 0.1904283974371732,
+            "gripper_z": 1.0509227862828847,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23540905502336731,
+              -0.10111531366845036,
+              1.0509227862828847
+            ],
+            "object_minus_gripper": [
+              0.004692302743249416,
+              0.004523120584615042,
+              -0.003907777998963802
+            ],
+            "object_to_gripper_xy": 0.006517386351696078,
+            "object_to_gripper_z": -0.003907777998963802,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24010135776661673,
+              -0.12094509304562194,
+              1.047015008283921
+            ],
+            "finger_b": [
+              0.2291823837428094,
+              -0.09659219308383532,
+              1.047015008283921
+            ],
+            "finger_midpoint": [
+              0.23464187075471304,
+              -0.10876864306472864,
+              1.047015008283921
+            ],
+            "object_minus_finger_midpoint": [
+              0.005459487011903685,
+              0.012176449980893317,
+              0.0
+            ],
+            "finger_gap": 0.02668871915775214,
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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": 1.047015008283921,
+            "object_top_z": 1.0942502797484106,
+            "finger_top_clearance": 0.04723527146448969,
+            "fingertip_min_top_clearance": 0.01417058143934689,
+            "object_projection_between_fingers": 0.8326182121858481,
+            "object_to_finger_line_xy": 0.009963336213903306,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050722310126845735,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6436482662110143,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da6b4fbb4fcd1b1c733944dd459f3751108a7971
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_22_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+              -0.09383709230156873,
+              1.0447192707504371
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+            "gripper_position": [
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+              -0.09847563553567083,
+              1.0483152669630464
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+              0.004638543234102108,
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+            "object_to_gripper_z": -0.0035959962126093092,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24106569325040889,
+              -0.11808316054890795,
+              1.0447192707504371
+            ],
+            "finger_b": [
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+              -0.09383709230156873,
+              1.0447192707504371
+            ],
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+              -0.10596012642523833,
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+            ],
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+              0.012123034123669607,
+              0.0
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              -0.09557044340457778,
+              1.2404448445647973
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+              -0.09085289192061845,
+              1.2373957996114722
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+            "max_held_gripper_z_dist": 0.0036223839858795515,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.023046928762327806,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_line_xy_max_dist": 0.04748295187950134,
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+            "held_grasp_min_top_clearance": 0.01356019489467144
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_min_pad_clearance": 0.1524460548923701,
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+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "caster",
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+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+              "enabled": true
+            },
+            "status": "active",
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+            "failed_keys": []
+          }
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+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074713826179504395,
+            "max_z_decrease": 0.0074713826179504395,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035171398369448416,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074713826179504395,
+            "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": 0.021085136062838794,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0074713826179504395,
+            "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": 0.007471406423242378,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16561287641525269,
+              -0.37666797637939453,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16561287641525269,
+              -0.37666797637939453,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16495253031886803,
+              -0.375113995718431,
+              0.8081452737286451
+            ],
+            "closest_button": [
+              0.16560454666614532,
+              -0.3766768276691437,
+              0.7730146646499634
+            ],
+            "closest_ee_minus_button": [
+              -0.0006520163472772955,
+              0.001562831950712662,
+              0.03513060907868171
+            ],
+            "button_min_z_position": [
+              0.16559432446956635,
+              -0.37667137384414673,
+              0.7693374752998352
+            ],
+            "min_active_finger_to_button": 0.1460358519733678,
+            "closest_active_finger": [
+              0.03804154694080353,
+              -0.4389888346195221,
+              0.8104615211486816
+            ],
+            "closest_active_finger_button": [
+              0.1656140387058258,
+              -0.3766707181930542,
+              0.7762828469276428
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12757249176502228,
+              -0.062318116426467896,
+              0.03417867422103882
+            ],
+            "min_contact_pad_to_button": 0.021085136062838794,
+            "closest_contact_pad": [
+              0.16559432446956635,
+              -0.37667137384414673,
+              0.790422611362674
+            ],
+            "closest_contact_pad_button": [
+              0.16559432446956635,
+              -0.37667137384414673,
+              0.7693374752998352
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021085136062838794
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fe86244875a4ee8ae25efe7470348cfba4a9c2fef7cbbe0800136cd2acbf6ebc",
+    "visual_seed": 1948859867626022125,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a4715b185146607e38acadd261227946cf24c51
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24069297030293801,
+              -0.09595988986129896,
+              1.047694393891063
+            ],
+            "current_z": 1.047694393891063,
+            "required_z": 0.8565865361432176,
+            "initial_z": 0.7565865361432176,
+            "lift_margin": 0.19110785774784544,
+            "gripper_z": 1.0512293722835273,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23637414148005093,
+              -0.10032454480603652,
+              1.0512293722835273
+            ],
+            "object_minus_gripper": [
+              0.004318828822887089,
+              0.0043646549447375615,
+              -0.0035349783924643052
+            ],
+            "object_to_gripper_xy": 0.006140235759970648,
+            "object_to_gripper_z": -0.0035349783924643052,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24069297030293801,
+              -0.11995908367406637,
+              1.047694393891063
+            ],
+            "finger_b": [
+              0.2298257315626961,
+              -0.09595988986129896,
+              1.047694393891063
+            ],
+            "finger_midpoint": [
+              0.23525935093281705,
+              -0.10795948676768266,
+              1.047694393891063
+            ],
+            "object_minus_finger_midpoint": [
+              0.005433619370120962,
+              0.011999596906383705,
+              0.0
+            ],
+            "finger_gap": 0.026344983991268403,
+            "fingertip_max_gap": 0.09322412041391676,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013172491995634202,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047694393891063,
+            "object_top_z": 1.0938512113931007,
+            "finger_top_clearance": 0.046156817502037706,
+            "fingertip_min_top_clearance": 0.013847045250611345,
+            "object_projection_between_fingers": 0.8298458530059374,
+            "object_to_finger_line_xy": 0.009899606271278052,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04911206020695838,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.464472107874823,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23596318336125968,
+              -0.09709457136360068,
+              1.2440175546570913
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+            "held_position": [
+              0.2405537833493746,
+              -0.09261690770976938,
+              1.2410045972294996
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007085265874207009,
+            "max_held_gripper_dist": 0.007087787488290609,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003012957427591667,
+            "max_held_gripper_z_dist": 0.0035572612210599264,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.085863614460125,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2405537833493746,
+              -0.11618437542561857,
+              1.2410045972294996
+            ],
+            "held_grasp_finger_b": [
+              0.23139245563124233,
+              -0.09261690770976938,
+              1.2410045972294996
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+            "held_grasp_midpoint": [
+              0.23597311949030847,
+              -0.10440064156769398,
+              1.2410045972294996
+            ],
+            "held_grasp_object_position": [
+              0.2405537833493746,
+              -0.09261690770976938,
+              1.2410045972294996
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+            "held_grasp_finger_gap": 0.025285479234070544,
+            "held_grasp_max_gap": 0.12496629863977432,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.022928214865535687,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04761577529830519,
+              -0.9913851954439615,
+              -0.12201693405949696
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004268604388974206,
+            "held_grasp_line_xy_max_dist": 0.04748314931988716,
+            "held_grasp_object_top_z": 0.04520087689161301,
+            "held_grasp_top_clearance": 0.03330054573678444,
+            "held_grasp_min_top_clearance": 0.013560263067483902
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3071107657113114,
+              -0.31889019863800394,
+              0.8470195460001302
+            ],
+            "target_position": [
+              0.30304616029839604,
+              -0.32041525277276295,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00434129096889928,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1817739843468503,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195460001302,
+            "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": 0.07513995062185701,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08517984402605248,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1513390514420411,
+            "release_required_pad_clearance": 0.052589922013026244,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.24389309924460814,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007705569267272949,
+            "max_z_decrease": 0.007705569267272949,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522816059775778,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007705569267272949,
+            "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": 0.02108845304539264,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007705569267272949,
+            "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": 0.007705594691808516,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15874609351158137,
+              -0.37667670845985407,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15874609351158137,
+              -0.37667670845985407,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1602335723547132,
+              -0.3746425316818549,
+              0.8078153989565353
+            ],
+            "closest_button": [
+              0.1587362438440322,
+              -0.3766858279705047,
+              0.7726784348487854
+            ],
+            "closest_ee_minus_button": [
+              0.0014973285106809897,
+              0.0020432962886497985,
+              0.03513696410774991
+            ],
+            "button_min_z_position": [
+              0.15872654318809504,
+              -0.3766798079013824,
+              0.7691032886505127
+            ],
+            "min_active_finger_to_button": 0.14395199867391203,
+            "closest_active_finger": [
+              0.03289350867271423,
+              -0.437639057636261,
+              0.8106136918067932
+            ],
+            "closest_active_finger_button": [
+              0.1587474942207336,
+              -0.3766800165176391,
+              0.7764530777931213
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12585398554801935,
+              -0.06095904111862188,
+              0.034160614013671875
+            ],
+            "min_contact_pad_to_button": 0.02108845304539264,
+            "closest_contact_pad": [
+              0.15872654318809504,
+              -0.3766798079013824,
+              0.7901917416959053
+            ],
+            "closest_contact_pad_button": [
+              0.15872654318809504,
+              -0.3766798079013824,
+              0.7691032886505127
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108845304539264
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "523328e333729d236e149de478c77d2de4b48ee80cd25be79b23c2d40d6ef090",
+    "visual_seed": 4444629835828317709,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1709148b5f4a16391d2dbe0f5a6c6adbe6ab24a0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_24_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23967141894814764,
+              -0.1038912602990702,
+              1.0473327339441585
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+            "current_z": 1.0473327339441585,
+            "required_z": 0.8565864741804118,
+            "initial_z": 0.7565864741804118,
+            "lift_margin": 0.1907462597637467,
+            "gripper_z": 1.0512250456738808,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23505053987036292,
+              -0.10840430657760829,
+              1.0512250456738808
+            ],
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+              0.0046208790777847175,
+              0.004513046278538088,
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+            "object_to_gripper_xy": 0.00645911063256661,
+            "object_to_gripper_z": -0.0038923117297222642,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23967141894814764,
+              -0.12815724096114778,
+              1.0473327339441585
+            ],
+            "finger_b": [
+              0.22858834591400415,
+              -0.1038912602990702,
+              1.0473327339441585
+            ],
+            "finger_midpoint": [
+              0.2341298824310759,
+              -0.11602425063010899,
+              1.0473327339441585
+            ],
+            "object_minus_finger_midpoint": [
+              0.005541536517071732,
+              0.01213299033103879,
+              0.0
+            ],
+            "finger_gap": 0.02667718735872434,
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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": 1.0473327339441585,
+            "object_top_z": 1.0944468399765523,
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+            "object_projection_between_fingers": 0.8274001903672896,
+            "object_to_finger_line_xy": 0.01008133399921438,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050435392657954436,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.356749663961068,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
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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": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "759a0121d3b0902684177c9919dd2afa111b5bfdcb41fbf337048808e6436304",
+    "visual_seed": 4535032299422338394,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..28c389ff7b4f03f7d7bae1aba19a766f91f8032d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+          "skill": "pick",
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+          "metrics": {
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+              -0.0980891223566492,
+              1.0468119208804851
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+            "gripper_z": 1.0508406439895812,
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+              -0.10243865363241707,
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+              0.004349531275767871,
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+              1.0468119208804851
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+              1.0468119208804851
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+              -0.11018031685744421,
+              1.0468119208804851
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_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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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "held_shake_count": 5,
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+            "held_object_xy_range": 0.0851615900279102,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "release_min_pad_clearance": 0.150992763011443,
+            "release_required_pad_clearance": 0.05452740378258962,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.086886217280077,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007454812526702881,
+            "max_z_decrease": 0.007454812526702881,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518173162856858,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007454812526702881,
+            "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": 0.021138333684617663,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007454812526702881,
+            "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": 0.0074548324415698985,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16119767725467682,
+              -0.37772804498672485,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16119767725467682,
+              -0.37772804498672485,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16286135795024506,
+              -0.3781214125089027,
+              0.8081988062186367
+            ],
+            "closest_button": [
+              0.16119033098220828,
+              -0.3777363300323486,
+              0.7730588912963867
+            ],
+            "closest_ee_minus_button": [
+              0.0016710269680367817,
+              -0.00038508247655411054,
+              0.03513991492224999
+            ],
+            "button_min_z_position": [
+              0.16118067502975467,
+              -0.3777308464050293,
+              0.7693540453910828
+            ],
+            "min_active_finger_to_button": 0.14451149912587122,
+            "closest_active_finger": [
+              0.021580591797828674,
+              -0.36292755603790283,
+              0.810560941696167
+            ],
+            "closest_active_finger_button": [
+              0.16119909286499026,
+              -0.37773060798645014,
+              0.7763393521308899
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1396185010671616,
+              0.014803051948547308,
+              0.0342215895652771
+            ],
+            "min_contact_pad_to_button": 0.021138333684617663,
+            "closest_contact_pad": [
+              0.16118067502975467,
+              -0.37925888375638694,
+              0.7904370777350104
+            ],
+            "closest_contact_pad_button": [
+              0.16118067502975467,
+              -0.3777308464050293,
+              0.7693540453910828
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015280373513576473,
+              0.02108303234392761
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6eeb8e2a9bfa8eb3581caed7e30602d8a5b86b6988da04ce61b66e47b2105912",
+    "visual_seed": 4288941632256890545,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0e92ed43a2469c3fecba397a61e264ff05dc329
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_26_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24201449274168138,
+              -0.09545101567884014,
+              1.0460516844182755
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+            "current_z": 1.0460516844182755,
+            "required_z": 0.8565866457883827,
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+            "lift_margin": 0.18946503862989272,
+            "gripper_z": 1.0497401280197831,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23765298458630138,
+              -0.09988089876551608,
+              1.0497401280197831
+            ],
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+              0.004361508155380001,
+              0.00442988308667594,
+              -0.0036884436015076627
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+            "object_to_gripper_xy": 0.006216640374918257,
+            "object_to_gripper_z": -0.0036884436015076627,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24201449274168138,
+              -0.11939961270852455,
+              1.0460516844182755
+            ],
+            "finger_b": [
+              0.23094006489046132,
+              -0.09545101567884014,
+              1.0460516844182755
+            ],
+            "finger_midpoint": [
+              0.23647727881607133,
+              -0.10742531419368234,
+              1.0460516844182755
+            ],
+            "object_minus_finger_midpoint": [
+              0.005537213925610046,
+              0.011974298514842205,
+              0.0
+            ],
+            "finger_gap": 0.026385190011104478,
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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_min_top_clearance": 0.01391208213196714,
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+            "object_to_finger_line_xy": 0.010051737729823571,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04956272049391132,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8981568473691695,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23630131435628468,
+              -0.09689491022792512,
+              1.2420415254007693
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+            "held_position": [
+              0.24093316984463312,
+              -0.09233683971186356,
+              1.2388750701541036
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+                "Robotiq_2F_85",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_3_joint"
+              ],
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+            },
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.3110992702391179,
+              -0.31881852462120047,
+              0.8470197565626807
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+            "target_position": [
+              0.3070866281823716,
+              -0.32046209781760315,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004336199848658083,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18549348307766242,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197565626807,
+            "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": 0.07557464614203324,
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+            "release_fingertip_min_gap": 0.08630809557249318,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15375775742488698,
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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": 1.332344802863767,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007510721683502197,
+            "max_z_decrease": 0.007510721683502197,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035216010416298286,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007510721683502197,
+            "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": 0.02111647807396334,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007510721683502197,
+            "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": 0.007510741260903208,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1627865582704544,
+              -0.3767235577106475,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1627865582704544,
+              -0.3767235577106475,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16471842593734196,
+              -0.37597743991906035,
+              0.8045835827710727
+            ],
+            "closest_button": [
+              0.16276884078979492,
+              -0.37672677636146545,
+              0.7694295644760132
+            ],
+            "closest_ee_minus_button": [
+              0.0019495851475470338,
+              0.0007493364424051019,
+              0.035154018295059486
+            ],
+            "button_min_z_position": [
+              0.16276971995830536,
+              -0.37672680616378784,
+              0.7692981362342834
+            ],
+            "min_active_finger_to_button": 0.14371146245866895,
+            "closest_active_finger": [
+              0.03784949332475662,
+              -0.43894070386886597,
+              0.8105011582374573
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+            "closest_active_finger_button": [
+              0.16278885304927826,
+              -0.37672629952430725,
+              0.7762592434883118
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12493935972452164,
+              -0.062214404344558716,
+              0.03424191474914551
+            ],
+            "min_contact_pad_to_button": 0.02111647807396334,
+            "closest_contact_pad": [
+              0.16276971995830536,
+              -0.37715610698742114,
+              0.7904102499856586
+            ],
+            "closest_contact_pad_button": [
+              0.16276971995830536,
+              -0.37672680616378784,
+              0.7692981362342834
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000429300823633294,
+              0.021112113751375117
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "35ecb3d2d7a098dfd594b089f1f6ef5ee962de4d8505e7a75c3778a4654ca8cf",
+    "visual_seed": 1437200995326292792,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f63fd410c45743e433e751315de5c843ca6d34a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_27_success.json
@@ -0,0 +1,926 @@
+{
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035102977408269995,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007565498352050781,
+            "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": 0.021334391150217437,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007565498352050781,
+            "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": 0.007565523147754631,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1663532853126526,
+              -0.3822001218795776,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1663532853126526,
+              -0.3822001218795776,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16681875658503983,
+              -0.3835282008641999,
+              0.8076321556983173
+            ],
+            "closest_button": [
+              0.1663426011800766,
+              -0.38220447301864624,
+              0.7725573778152466
+            ],
+            "closest_ee_minus_button": [
+              0.0004761554049632355,
+              -0.0013237278455536794,
+              0.035074777883070674
+            ],
+            "button_min_z_position": [
+              0.16633427143096924,
+              -0.3822038173675537,
+              0.7692433595657349
+            ],
+            "min_active_finger_to_button": 0.14560062983635455,
+            "closest_active_finger": [
+              0.025953419506549835,
+              -0.3650835454463959,
+              0.8086087107658386
+            ],
+            "closest_active_finger_button": [
+              0.16635866463184357,
+              -0.3822064995765686,
+              0.7740730047225952
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14040524512529373,
+              0.01712295413017273,
+              0.03453570604324341
+            ],
+            "min_contact_pad_to_button": 0.021334391150217437,
+            "closest_contact_pad": [
+              0.16633427143096924,
+              -0.38503489535760016,
+              0.7903890741000028
+            ],
+            "closest_contact_pad_button": [
+              0.16633427143096924,
+              -0.3822038173675537,
+              0.7692433595657349
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002831077990046449,
+              0.021145714534267945
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "20d6df7a56c113efc2a4922e514b61910ebd32292e16a8044c0c16e685c66ccc",
+    "visual_seed": 8411848091087465077,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc4b1ee2cef3830c879e1c138d4f56679b8c3304
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_28_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24418366054993737,
+              -0.09432265063922333,
+              1.0474287922384142
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+            "current_z": 1.0474287922384142,
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+            "lift_margin": 0.19084224969193453,
+            "gripper_z": 1.051007657187075,
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+            "gripper_position": [
+              0.23976325951080904,
+              -0.09873162625823952,
+              1.051007657187075
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+              0.00442040103912833,
+              0.004408975619016181,
+              -0.003578864948660776
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+            "object_to_gripper_xy": 0.006243317335824436,
+            "object_to_gripper_z": -0.003578864948660776,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24418366054993737,
+              -0.11840399411837899,
+              1.0474287922384142
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+            "finger_b": [
+              0.23335052348920102,
+              -0.09432265063922333,
+              1.0474287922384142
+            ],
+            "finger_midpoint": [
+              0.2387670920195692,
+              -0.10636332237880117,
+              1.0474287922384142
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054165685303681765,
+              0.012040671739577832,
+              0.0
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+            "finger_gap": 0.02640583197586798,
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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": 0.009879502935365766,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879869182419584,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7014259235422504,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.09683066207502838,
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+            "held_position": [
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+              -0.0923113120861878,
+              1.2404151441001696
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007194884209592747,
+            "max_held_gripper_dist": 0.007197373766161465,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00313541539350104,
+            "max_held_gripper_z_dist": 0.0036140918815656953,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08520118490736772,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.24224945667038728,
+              -0.11600380685640707,
+              1.2404151441001696
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+              -0.10415755947129743,
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+            "held_grasp_object_position": [
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+              -0.0923113120861878,
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+            "held_grasp_finger_gap": 0.02543364413980716,
+            "held_grasp_max_gap": 0.12496604532003402,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023137208203999594,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9909622536233479,
+              -0.12896936553874894
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00445814840248778,
+            "held_grasp_line_xy_max_dist": 0.04748302266001701,
+            "held_grasp_object_top_z": 0.04520074278116226,
+            "held_grasp_top_clearance": 0.033290978871706185,
+            "held_grasp_min_top_clearance": 0.013560222834348679
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.315927127346225,
+              -0.3248311663038305,
+              0.8470195543964882
+            ],
+            "target_position": [
+              0.3100844766564461,
+              -0.3273420794481517,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006359343669050977,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1852918969797967,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195543964882,
+            "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": 0.07514401434999496,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08590087564756975,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15485561608518972,
+            "release_required_pad_clearance": 0.05295043782378488,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9362736201462559,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007521867752075195,
+            "max_z_decrease": 0.007521867752075195,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035142374487116816,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007521867752075195,
+            "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": 0.021103026219887147,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007521867752075195,
+            "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": 0.007521892036399801,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16578440368175507,
+              -0.38360354304313654,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16578440368175507,
+              -0.38360354304313654,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16657613177241762,
+              -0.38292637576210137,
+              0.8082476895344374
+            ],
+            "closest_button": [
+              0.16578161716461182,
+              -0.38361257314682,
+              0.7731209993362427
+            ],
+            "closest_ee_minus_button": [
+              0.0007945146078058019,
+              0.0006861973847186453,
+              0.0351266901981947
+            ],
+            "button_min_z_position": [
+              0.16576552391052246,
+              -0.3836065232753753,
+              0.7692869901657104
+            ],
+            "min_active_finger_to_button": 0.14518227942060388,
+            "closest_active_finger": [
+              0.03932936489582062,
+              -0.4461645483970642,
+              0.8106977343559265
+            ],
+            "closest_active_finger_button": [
+              0.16578692197799683,
+              -0.383606344461441,
+              0.7764508128166199
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1264575570821762,
+              -0.06255820393562322,
+              0.03424692153930664
+            ],
+            "min_contact_pad_to_button": 0.021103026219887147,
+            "closest_contact_pad": [
+              0.16576552391052246,
+              -0.3841108240310727,
+              0.7903839898667354
+            ],
+            "closest_contact_pad_button": [
+              0.16576552391052246,
+              -0.3836065232753753,
+              0.7692869901657104
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005043007556974066,
+              0.021096999701024965
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fc974539aed830108529e7067ac241f635c7b8a1eb78d9fd203a1b7b14b495f8",
+    "visual_seed": 5772638522684080568,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c4bc5b88ef071834c4eb968db53c103b3851db1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_29_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23977536654781426,
+              -0.10191285077909853,
+              1.047516572263993
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+            "current_z": 1.047516572263993,
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+            "lift_margin": 0.19092997361818576,
+            "gripper_z": 1.0515747717762152,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23519299693265996,
+              -0.10638442133241269,
+              1.0515747717762152
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+              0.004582369615154291,
+              0.0044715705533141525,
+              -0.004058199512222194
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+            "object_to_gripper_xy": 0.006402581862276774,
+            "object_to_gripper_z": -0.004058199512222194,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23977536654781426,
+              -0.126223598088676,
+              1.047516572263993
+            ],
+            "finger_b": [
+              0.22891987712318398,
+              -0.10191285077909853,
+              1.047516572263993
+            ],
+            "finger_midpoint": [
+              0.23434762183549912,
+              -0.11406822443388727,
+              1.047516572263993
+            ],
+            "object_minus_finger_midpoint": [
+              0.005427744712315136,
+              0.012155373654788734,
+              0.0
+            ],
+            "finger_gap": 0.026624313801455763,
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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": 1.047516572263993,
+            "object_top_z": 1.0941558986405342,
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+            "fingertip_min_top_clearance": 0.013991797912962367,
+            "object_projection_between_fingers": 0.8337575347653802,
+            "object_to_finger_line_xy": 0.009912182612178631,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05016572580073124,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.534409074683157,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
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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": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db51654e292b56352260b0e800d35263c99be5cbfe4a3e222d06c0b23d6b7110",
+    "visual_seed": 81898203317440668,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e737257c58705c4006d4bdf96ddb98b349960559
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_2_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+            "stable_success_frames": 203,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
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+          "passed": true,
+          "metrics": {
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "robot_prim_substrings": [
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+      "skill": "place",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007776439189910889,
+            "max_z_decrease": 0.007776439189910889,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521179212680148,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007776439189910889,
+            "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": 0.021159492867606655,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007776439189910889,
+            "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": 0.007776462274201449,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16690938174724573,
+              -0.3785199224948883,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16690938174724573,
+              -0.3785199224948883,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1686425700398345,
+              -0.37639430083624537,
+              0.8042025563361517
+            ],
+            "closest_button": [
+              0.16689047217369077,
+              -0.37852418422698975,
+              0.7690989375114441
+            ],
+            "closest_ee_minus_button": [
+              0.0017520978661437203,
+              0.0021298833907443804,
+              0.03510361882470758
+            ],
+            "button_min_z_position": [
+              0.16689091920852658,
+              -0.3785241842269897,
+              0.7690324187278748
+            ],
+            "min_active_finger_to_button": 0.1433657535530367,
+            "closest_active_finger": [
+              0.041242294013500214,
+              -0.4382955729961395,
+              0.8109907507896423
+            ],
+            "closest_active_finger_button": [
+              0.1669138073921203,
+              -0.3785223364830017,
+              0.7765296101570129
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1256715133786201,
+              -0.05977323651313782,
+              0.034461140632629395
+            ],
+            "min_contact_pad_to_button": 0.021159492867606655,
+            "closest_contact_pad": [
+              0.16689091920852658,
+              -0.3785241842269897,
+              0.7901919115954814
+            ],
+            "closest_contact_pad_button": [
+              0.16689091920852658,
+              -0.3785241842269897,
+              0.7690324187278748
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021159492867606655
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ab89a31b2b6874fc21c11a8f8cf803a6430c1abaec9c1da66ef7f1bacf522758",
+    "visual_seed": 5023465341072297480,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..15ad1d0dd84a2ea8a1849579097a48c46261bf05
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2414528879673195,
+              -0.09663614957680106,
+              1.0464532802541233
+            ],
+            "current_z": 1.0464532802541233,
+            "required_z": 0.8565866239018322,
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+            "lift_margin": 0.18986665635229116,
+            "gripper_z": 1.049924522769984,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23720322966196886,
+              -0.1009855575458637,
+              1.049924522769984
+            ],
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+              0.004249658305350651,
+              0.004349407969062649,
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+            "object_to_gripper_xy": 0.006080867158027829,
+            "object_to_gripper_z": -0.0034712425158607285,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2414528879673195,
+              -0.12055557918331572,
+              1.0464532802541233
+            ],
+            "finger_b": [
+              0.23055243993868102,
+              -0.09663614957680106,
+              1.0464532802541233
+            ],
+            "finger_midpoint": [
+              0.23600266395300026,
+              -0.10859586438005839,
+              1.0464532802541233
+            ],
+            "object_minus_finger_midpoint": [
+              0.005450224014319244,
+              0.011959714803257332,
+              0.0
+            ],
+            "finger_gap": 0.02628609670388624,
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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": 0.009919026861905378,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04845791949317527,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4578463583674424,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23647979143493122,
+              -0.0978724585908799,
+              1.2444098632459841
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+            "held_position": [
+              0.24101508466164212,
+              -0.09342639289470454,
+              1.2414614102098145
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007002125401151776,
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+              0.23187138557121606,
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+              "held_object": "beaker_b",
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+                "beaker_b"
+              ],
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+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3160831118515011,
+              -0.3189482602213462,
+              0.8470193633722377
+            ],
+            "target_position": [
+              0.31156831883050423,
+              -0.3210543292043308,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0049818553354681015,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18491408702757842,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193633722377,
+            "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": 0.07532811639234134,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08575238227389641,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15391850588011954,
+            "release_required_pad_clearance": 0.052876191136948206,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7922831119330797,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007508039474487305,
+            "max_z_decrease": 0.007508039474487305,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518178729769755,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007508039474487305,
+            "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": 0.021066912565013807,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007508039474487305,
+            "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": 0.007508056786831586,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16726824641227722,
+              -0.3773157894611358,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16726824641227722,
+              -0.3773157894611358,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16613829307251038,
+              -0.3757718476346858,
+              0.8081218770486802
+            ],
+            "closest_button": [
+              0.16726210713386533,
+              -0.3773252665996551,
+              0.7729923725128174
+            ],
+            "closest_ee_minus_button": [
+              -0.0011238140613549497,
+              0.0015534189649692998,
+              0.03512950453586283
+            ],
+            "button_min_z_position": [
+              0.16725240647792816,
+              -0.37731879949569697,
+              0.7693008184432983
+            ],
+            "min_active_finger_to_button": 0.14645662398415643,
+            "closest_active_finger": [
+              0.03932987153530121,
+              -0.439862996339798,
+              0.8104544878005981
+            ],
+            "closest_active_finger_button": [
+              0.1672704070806503,
+              -0.3773185312747955,
+              0.7762645483016968
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1279405355453491,
+              -0.0625444650650025,
+              0.03418993949890137
+            ],
+            "min_contact_pad_to_button": 0.021066912565013807,
+            "closest_contact_pad": [
+              0.16725240647792816,
+              -0.37731879949569697,
+              0.7903677310083121
+            ],
+            "closest_contact_pad_button": [
+              0.16725240647792816,
+              -0.37731879949569697,
+              0.7693008184432983
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021066912565013807
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ae13e405776ff0c305962aee828a84b2d40271df1de82de44905093440df8a4c",
+    "visual_seed": 2333359947918389876,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..095e539611e5fbf4e27f21ab673dd205bb5891af
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_31_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021173946778375332,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007791638374328613,
+            "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": 0.007791659649693444,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16488063335418696,
+              -0.3815088272094726,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16488063335418696,
+              -0.3815088272094726,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1650828844379437,
+              -0.3828553790133594,
+              0.8080012094576721
+            ],
+            "closest_button": [
+              0.16487017273902888,
+              -0.38151818513870234,
+              0.7728655934333801
+            ],
+            "closest_ee_minus_button": [
+              0.00021271169891481922,
+              -0.0013371938746570833,
+              0.03513561602429194
+            ],
+            "button_min_z_position": [
+              0.16486252844333643,
+              -0.3815107643604278,
+              0.769017219543457
+            ],
+            "min_active_finger_to_button": 0.14582755908991535,
+            "closest_active_finger": [
+              0.02364962548017502,
+              -0.3692895770072937,
+              0.8109148740768433
+            ],
+            "closest_active_finger_button": [
+              0.16488505899906153,
+              -0.3815099895000457,
+              0.7767258286476135
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1412354335188865,
+              0.01222041249275202,
+              0.034189045429229736
+            ],
+            "min_contact_pad_to_button": 0.021173946778375332,
+            "closest_contact_pad": [
+              0.16486252844333643,
+              -0.38380133060606153,
+              0.7900669066776601
+            ],
+            "closest_contact_pad_button": [
+              0.16486252844333643,
+              -0.3815107643604278,
+              0.769017219543457
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022905662456337295,
+              0.021049687134203077
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "568bbb180a97c13ccc89fc2c00f8b5dc17ddae4f003087b6bf564ec14f324f59",
+    "visual_seed": 1412776014489824010,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..302c8f0d171a10411465a90accf0c99661eb6dee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_32_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24344919345230884,
+              -0.10453104607270688,
+              1.0479602702809947
+            ],
+            "current_z": 1.0479602702809947,
+            "required_z": 0.8565866398275228,
+            "initial_z": 0.7565866398275228,
+            "lift_margin": 0.1913736304534719,
+            "gripper_z": 1.0515269229914295,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23913358346474117,
+              -0.10897910065715517,
+              1.0515269229914295
+            ],
+            "object_minus_gripper": [
+              0.0043156099875676646,
+              0.004448054584448288,
+              -0.00356665271043477
+            ],
+            "object_to_gripper_xy": 0.006197554287864303,
+            "object_to_gripper_z": -0.00356665271043477,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24344919345230884,
+              -0.12841604465801262,
+              1.0479602702809947
+            ],
+            "finger_b": [
+              0.2321906201007584,
+              -0.10453104607270688,
+              1.0479602702809947
+            ],
+            "finger_midpoint": [
+              0.2378199067765336,
+              -0.11647354536535975,
+              1.0479602702809947
+            ],
+            "object_minus_finger_midpoint": [
+              0.005629286675775225,
+              0.01194249929265287,
+              0.0
+            ],
+            "finger_gap": 0.026405465936663552,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013202732968331776,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479602702809947,
+            "object_top_z": 1.093766787516641,
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+            "fingertip_min_top_clearance": 0.013741955170693898,
+            "object_projection_between_fingers": 0.8182062061993034,
+            "object_to_finger_line_xy": 0.010183914543275111,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04878298345155681,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3248116784787185,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23980515286574686,
+              -0.10507642488807646,
+              1.2435833326493957
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+            "held_position": [
+              0.24445610501693626,
+              -0.10054191563616982,
+              1.2405924900928165
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0071511026608856365,
+            "max_held_gripper_dist": 0.007153881557163131,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029908425565792207,
+            "max_held_gripper_z_dist": 0.0035504148435863137,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08575148624045945,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24445610501693626,
+              -0.1240798973538661,
+              1.2405924900928165
+            ],
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+              0.23519949772485874,
+              -0.10054191563616982,
+              1.2405924900928165
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+            "held_grasp_midpoint": [
+              0.2398278013708975,
+              -0.11231090649501796,
+              1.2405924900928165
+            ],
+            "held_grasp_object_position": [
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+              -0.10054191563616982,
+              1.2405924900928165
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+            "held_grasp_finger_gap": 0.025292713612863827,
+            "held_grasp_max_gap": 0.12496622413396835,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02274753626742611,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05860941694632042,
+              -0.9894671897975835,
+              -0.13236168841203844
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00423465627510548,
+            "held_grasp_line_xy_max_dist": 0.047483112066984176,
+            "held_grasp_object_top_z": 0.04520086944103241,
+            "held_grasp_top_clearance": 0.03328457695102963,
+            "held_grasp_min_top_clearance": 0.013560260832309722
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31340999624691923,
+              -0.3240173952462738,
+              0.84701901741919
+            ],
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+              0.30874759124584594,
+              -0.325936267093796,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005041833948202409,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18547701047525517,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.84701901741919,
+            "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": 0.07539994348374691,
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+            "release_fingertip_min_gap": 0.08521982482555678,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1543778408566852,
+            "release_required_pad_clearance": 0.05260991241277839,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2797596917583907,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007728934288024902,
+            "max_z_decrease": 0.007728934288024902,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035151745894585446,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007728934288024902,
+            "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": 0.02107514331625133,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007728934288024902,
+            "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": 0.0077289512464516616,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1644475162029266,
+              -0.38219773769378657,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1644475162029266,
+              -0.38219773769378657,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16316305697646752,
+              -0.38138109049324187,
+              0.8079220616168158
+            ],
+            "closest_button": [
+              0.1644407510757446,
+              -0.38220667839050293,
+              0.7728032469749451
+            ],
+            "closest_ee_minus_button": [
+              -0.0012776940992770824,
+              0.0008255878972610597,
+              0.03511881464187072
+            ],
+            "button_min_z_position": [
+              0.16443145275115967,
+              -0.382199764251709,
+              0.7690799236297607
+            ],
+            "min_active_finger_to_button": 0.1469153640650738,
+            "closest_active_finger": [
+              0.035573944449424744,
+              -0.4438878297805786,
+              0.8108593225479126
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+            "closest_active_finger_button": [
+              0.1644484847784042,
+              -0.38220149278640747,
+              0.776650071144104
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12887454032897946,
+              -0.06168633699417114,
+              0.034209251403808594
+            ],
+            "min_contact_pad_to_button": 0.02107514331625133,
+            "closest_contact_pad": [
+              0.16443145275115967,
+              -0.3827186281886423,
+              0.7901486788377811
+            ],
+            "closest_contact_pad_button": [
+              0.16443145275115967,
+              -0.382199764251709,
+              0.7690799236297607
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005188639369332892,
+              0.021068755208020318
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c8b2ad4737eb633e7c36f7a4273cb5ebadb39db99265bd65e3662b1e48a32420",
+    "visual_seed": 698958720166630537,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..593f3f4ad2e304c7d93caf15b303cb4853e46f5b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_33_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              -0.10008466355817247,
+              1.0466127534656746
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+            "current_z": 1.0466127534656746,
+            "required_z": 0.8565866436922572,
+            "initial_z": 0.7565866436922573,
+            "lift_margin": 0.19002610977341738,
+            "gripper_z": 1.0502383879001875,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23922684388895918,
+              -0.10459746320292623,
+              1.0502383879001875
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+              0.0044809167519277715,
+              0.004512799644753762,
+              -0.0036256344345129143
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+            "object_to_gripper_xy": 0.006359557812568152,
+            "object_to_gripper_z": -0.0036256344345129143,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24370776064088695,
+              -0.12411907221808874,
+              1.0466127534656746
+            ],
+            "finger_b": [
+              0.23248924543954802,
+              -0.10008466355817247,
+              1.0466127534656746
+            ],
+            "finger_midpoint": [
+              0.23809850304021749,
+              -0.1121018678881306,
+              1.0466127534656746
+            ],
+            "object_minus_finger_midpoint": [
+              0.005609257600669465,
+              0.012017204329958134,
+              0.0
+            ],
+            "finger_gap": 0.026523723022127393,
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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": 1.0921622783484692,
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+            "fingertip_min_top_clearance": 0.01366485746483842,
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+            "object_to_finger_line_xy": 0.010165630921478253,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048358215062996576,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3932275786352282,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "54ad156cb34e078964f30c2b78cd22ae91872da08b9359075dea71bde97a2a5d",
+    "visual_seed": 1734611501315862127,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d82ab0838ef584a3bd9226d5d52a12d05a5e6cdf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              1.046721012981186
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+              0.00448540829260205,
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+              1.046721012981186
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+              0.0,
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+            ],
+            "stable_success_frames": 204,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_held_gripper_z_dist": 0.003888448336501149,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew_max": 0.08,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_z_margin": 0.1,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007625401020050049,
+            "max_z_decrease": 0.007625401020050049,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507312655034367,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007625401020050049,
+            "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": 0.021205814860004685,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007625401020050049,
+            "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": 0.007625419509124461,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16706940531730652,
+              -0.37732291221618647,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16706940531730652,
+              -0.37732291221618647,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16649555265614457,
+              -0.3775462950861983,
+              0.8073181600904129
+            ],
+            "closest_button": [
+              0.1670582294464111,
+              -0.3773266673088073,
+              0.772250235080719
+            ],
+            "closest_ee_minus_button": [
+              -0.0005626767902665308,
+              -0.00021962777739098494,
+              0.03506792500969391
+            ],
+            "button_min_z_position": [
+              0.16705316305160522,
+              -0.37732717394828785,
+              0.7691834568977356
+            ],
+            "min_active_finger_to_button": 0.14672050707693796,
+            "closest_active_finger": [
+              0.02565132826566696,
+              -0.3590969741344452,
+              0.8095066547393799
+            ],
+            "closest_active_finger_button": [
+              0.16707436740398407,
+              -0.3773285448551177,
+              0.7749517560005188
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1414230391383171,
+              0.018231570720672496,
+              0.034554898738861084
+            ],
+            "min_contact_pad_to_button": 0.021205814860004685,
+            "closest_contact_pad": [
+              0.16705316305160522,
+              -0.37903867428433496,
+              0.7903200921663044
+            ],
+            "closest_contact_pad_button": [
+              0.16705316305160522,
+              -0.37732717394828785,
+              0.7691834568977356
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017115003360471115,
+              0.021136635268568793
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3311dc9511e76139c2b08c2b5891a72644bff325559b16a76f898cc30b2c82d2",
+    "visual_seed": 3468816035013903079,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8fc99bdc66d0bdfceb824786aa31faece4dae04
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_35_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24320879502636117,
+              -0.10264138140025741,
+              1.0451429525333522
+            ],
+            "current_z": 1.0451429525333522,
+            "required_z": 0.856586593629032,
+            "initial_z": 0.756586593629032,
+            "lift_margin": 0.1885563589043202,
+            "gripper_z": 1.048797542875333,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23874990830406723,
+              -0.107055954475719,
+              1.048797542875333
+            ],
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+              0.004458886722293942,
+              0.004414573075461586,
+              -0.003654590341980901
+            ],
+            "object_to_gripper_xy": 0.006274561836561943,
+            "object_to_gripper_z": -0.003654590341980901,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24320879502636117,
+              -0.12678324925179818,
+              1.0451429525333522
+            ],
+            "finger_b": [
+              0.23233285493395214,
+              -0.10264138140025741,
+              1.0451429525333522
+            ],
+            "finger_midpoint": [
+              0.23777082498015667,
+              -0.1147123153260278,
+              1.0451429525333522
+            ],
+            "object_minus_finger_midpoint": [
+              0.005437970046204499,
+              0.012070933925770383,
+              0.0
+            ],
+            "finger_gap": 0.026478592414532303,
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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": 0.013798337587399234,
+            "object_projection_between_fingers": 0.8312888350214962,
+            "object_to_finger_line_xy": 0.009916142986819355,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04894226755894557,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.308220560972072,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23909489236969286,
+              -0.10337172917678235,
+              1.2419539069969816
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+            "held_position": [
+              0.24379570887434887,
+              -0.09881786605419746,
+              1.238808212760545
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007261593308553906,
+            "max_held_gripper_dist": 0.007264213186731307,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031456942364365137,
+            "max_held_gripper_z_dist": 0.003680652613918811,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08577144653210197,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
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+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31670163503397525,
+              -0.32458898451632107,
+              0.8470195996764365
+            ],
+            "target_position": [
+              0.31236823657939883,
+              -0.3266510369829654,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0047990001605875375,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18627494634481567,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195996764365,
+            "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": 0.0756675840959803,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08665850599021284,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1545025804976082,
+            "release_required_pad_clearance": 0.05332925299510642,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6758022406638113,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007626950740814209,
+            "max_z_decrease": 0.007626950740814209,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035121715526128174,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007626950740814209,
+            "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": 0.02119068947534505,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007626950740814209,
+            "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": 0.007626977481506589,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16806815564632416,
+              -0.3829124867916106,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16806815564632416,
+              -0.3829124867916106,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1684504210060453,
+              -0.3835416442940159,
+              0.8078139705353774
+            ],
+            "closest_button": [
+              0.16805680096149445,
+              -0.38291725516319264,
+              0.7727000117301941
+            ],
+            "closest_ee_minus_button": [
+              0.0003936200445508464,
+              -0.0006243891308232441,
+              0.03511395880518331
+            ],
+            "button_min_z_position": [
+              0.1680482029914856,
+              -0.3829156160354613,
+              0.7691819071769714
+            ],
+            "min_active_finger_to_button": 0.1457315351031612,
+            "closest_active_finger": [
+              0.02729421854019165,
+              -0.36746731400489807,
+              0.8101486563682556
+            ],
+            "closest_active_finger_button": [
+              0.1680709421634674,
+              -0.3829166591167449,
+              0.7757842540740967
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14077672362327576,
+              0.015449345111846813,
+              0.034364402294158936
+            ],
+            "min_contact_pad_to_button": 0.02119068947534505,
+            "closest_contact_pad": [
+              0.1680482029914856,
+              -0.3848111932348816,
+              0.7902876435422712
+            ],
+            "closest_contact_pad_button": [
+              0.1680482029914856,
+              -0.3829156160354613,
+              0.7691819071769714
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018955771994202952,
+              0.021105736365299776
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "10a562825cd9a44f6d22d6cfb348c35644656f8f9cc7a9c4f2529e298c64fa30",
+    "visual_seed": 4316499846713894874,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbc9164afe1e6512295fbb9386069b1a287cb96a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_36_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
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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": 0.00768371702721464,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1679544746875763,
+              -0.384429931640625,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1679544746875763,
+              -0.384429931640625,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16787117000069804,
+              -0.3847695232756291,
+              0.8079001478477581
+            ],
+            "closest_button": [
+              0.16794438660144806,
+              -0.38443535566329956,
+              0.7727857828140259
+            ],
+            "closest_ee_minus_button": [
+              -7.321660075002012e-05,
+              -0.00033416761232951675,
+              0.03511436503373222
+            ],
+            "button_min_z_position": [
+              0.1679360419511795,
+              -0.384432852268219,
+              0.7691251635551453
+            ],
+            "min_active_finger_to_button": 0.14622140876028936,
+            "closest_active_finger": [
+              0.026716887950897217,
+              -0.36857134103775024,
+              0.8106788396835327
+            ],
+            "closest_active_finger_button": [
+              0.16795653104782102,
+              -0.3844327926635742,
+              0.77632075548172
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1412396430969238,
+              0.015861451625823975,
+              0.034358084201812744
+            ],
+            "min_contact_pad_to_button": 0.021156747831172745,
+            "closest_contact_pad": [
+              0.1679360419511795,
+              -0.38603871106859705,
+              0.790220878672322
+            ],
+            "closest_contact_pad_button": [
+              0.1679360419511795,
+              -0.384432852268219,
+              0.7691251635551453
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016058588003780572,
+              0.021095715117176783
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d5d217ac63107a14cac3ecea84947f729ad64b20f1241143e5b9b3811e1365ed",
+    "visual_seed": 6457216768310457702,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d24d7b6d89f99dc10a3374b2d9be22d49771d13
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_37_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23713243230666234,
+              -0.09607786304104446,
+              1.0434783849873372
+            ],
+            "current_z": 1.0434783849873372,
+            "required_z": 0.8565866801116748,
+            "initial_z": 0.7565866801116748,
+            "lift_margin": 0.18689170487566242,
+            "gripper_z": 1.0480317268744657,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23250255353600555,
+              -0.10057844784070454,
+              1.0480317268744657
+            ],
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+              0.004629878770656792,
+              0.004500584799660076,
+              -0.004553341887128415
+            ],
+            "object_to_gripper_xy": 0.006456859993054656,
+            "object_to_gripper_z": -0.004553341887128415,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23713243230666234,
+              -0.12034742532659358,
+              1.0434783849873372
+            ],
+            "finger_b": [
+              0.22609928719375244,
+              -0.09607786304104446,
+              1.0434783849873372
+            ],
+            "finger_midpoint": [
+              0.23161585975020738,
+              -0.10821264418381901,
+              1.0434783849873372
+            ],
+            "object_minus_finger_midpoint": [
+              0.005516572556454963,
+              0.012134781142774553,
+              0.0
+            ],
+            "finger_gap": 0.026659743896269444,
+            "fingertip_max_gap": 0.09224429145829477,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01332987194813472,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0434783849873372,
+            "object_top_z": 1.0887704272122314,
+            "finger_top_clearance": 0.045292042224894136,
+            "fingertip_min_top_clearance": 0.013587612667468241,
+            "object_projection_between_fingers": 0.8287278638824069,
+            "object_to_finger_line_xy": 0.010043967547667934,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04862214572914739,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.099755697019189,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 200,
+            "max_stable_success_frames": 200,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23415884043489393,
+              -0.09595873158661379,
+              1.2412888060690264
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+            "held_position": [
+              0.23906589745755427,
+              -0.09121279878700621,
+              1.237310181504644
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007901426465287064,
+            "max_held_gripper_dist": 0.007906106309482184,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003978624564382471,
+            "max_held_gripper_z_dist": 0.004576672883730204,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08502841504593993,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23906589745755427,
+              -0.11508472069137672,
+              1.237310181504644
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+              0.2296200580142409,
+              -0.09121279878700621,
+              1.237310181504644
+            ],
+            "held_grasp_midpoint": [
+              0.23434297773589757,
+              -0.10314875973919146,
+              1.237310181504644
+            ],
+            "held_grasp_object_position": [
+              0.23906589745755427,
+              -0.09121279878700621,
+              1.237310181504644
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+            "held_grasp_finger_gap": 0.025672797630901453,
+            "held_grasp_max_gap": 0.12496613472700119,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02334511407575516,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0314993337408459,
+              -0.990395822320196,
+              -0.13462506120550466
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004635727314499663,
+            "held_grasp_line_xy_max_dist": 0.047483067363500595,
+            "held_grasp_object_top_z": 0.04520081728696823,
+            "held_grasp_top_clearance": 0.033230722600003273,
+            "held_grasp_min_top_clearance": 0.01356024518609047
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+            },
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+            "forbidden": [],
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              -0.31920907121372355,
+              0.8470196047696574
+            ],
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+              -0.3220849282473414,
+              0.8084375599031817
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+            "xy_threshold": 0.08,
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196047696574,
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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_ok": false,
+            "force_virtual_attach": false,
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+            "object_tilt_deg": 2.3587073282462385,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
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+            "max_z_decrease": 0.007437586784362793,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035141677705521145,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007437586784362793,
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+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021079848442815078,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007437586784362793,
+            "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": 0.007437604879981245,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.163412943482399,
+              -0.37834638357162464,
+              0.7768088579177856
+            ],
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+              0.163412943482399,
+              -0.37834638357162464,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16242952026341484,
+              -0.37773677261799504,
+              0.8081243346753131
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+            "closest_button": [
+              0.16340740025043488,
+              -0.37835639715194697,
+              0.7730017304420471
+            ],
+            "closest_ee_minus_button": [
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+              0.0006196245339519235,
+              0.035122604233265964
+            ],
+            "button_min_z_position": [
+              0.163396880030632,
+              -0.3783497214317321,
+              0.7693712711334229
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+            "min_active_finger_to_button": 0.14675158453199427,
+            "closest_active_finger": [
+              0.0347420871257782,
+              -0.44005873799324036,
+              0.8104946613311768
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+            "closest_active_finger_button": [
+              0.16341516375541687,
+              -0.3783491253852843,
+              0.7762719988822937
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.12867307662963867,
+              -0.061709612607956044,
+              0.03422266244888306
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+            "closest_contact_pad": [
+              0.163396880030632,
+              -0.3790428475262735,
+              0.7904397211615839
+            ],
+            "closest_contact_pad_button": [
+              0.163396880030632,
+              -0.3783497214317321,
+              0.7693712711334229
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006931260945413631,
+              0.021068450028161045
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6dd4955f9e7692da97e447e7cf6ebf2f504eda545e4b1d85fc814b2e122a6123",
+    "visual_seed": 8180603897234213412,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e984352a8fbdba7d761ec79241ab5a42f01f9e2b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_38_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+              -0.09509932632873255,
+              1.047095722713195
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+            "lift_margin": 0.1905091213399316,
+            "gripper_z": 1.050742411349966,
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+            "gripper_position": [
+              0.237545441167523,
+              -0.09955088751962143,
+              1.050742411349966
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+              0.00437036471199706,
+              0.004451561190888881,
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+            "object_to_gripper_z": -0.0036466886367709783,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24191580587952005,
+              -0.11902611753626495,
+              1.047095722713195
+            ],
+            "finger_b": [
+              0.2307578853099589,
+              -0.09509932632873255,
+              1.047095722713195
+            ],
+            "finger_midpoint": [
+              0.23633684559473947,
+              -0.10706272193249874,
+              1.047095722713195
+            ],
+            "object_minus_finger_midpoint": [
+              0.005578960284780582,
+              0.011963395603766191,
+              0.0
+            ],
+            "finger_gap": 0.026400578193014747,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8213760642794242,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04979644736052624,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0728094467718727,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8875ff048ac138c42871287164083b07576faa89e64319735666c0a4d5b4ed40",
+    "visual_seed": 4654444252815828251,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..07a3758d7fa9671d1e2bc0a25e14ea2351951b60
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              -0.10153772178786688,
+              1.0465477640248986
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+              0.004557576518070164,
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+              -0.11364789820589467,
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+              0.012110176418027793,
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+              0.0,
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+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "held_shake_count": 5,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_min_pad_clearance": 0.15166474701716445,
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+            "release_gap_ok": false,
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+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6032371602603055,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007696628570556641,
+            "max_z_decrease": 0.007696628570556641,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517785635766527,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007696628570556641,
+            "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": 0.021078448758706014,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007696628570556641,
+            "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": 0.007696648123992855,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16098928451538086,
+              -0.386064738035202,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16098928451538086,
+              -0.386064738035202,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16087682355770255,
+              -0.3843365715613262,
+              0.8080178218068231
+            ],
+            "closest_button": [
+              0.160980150103569,
+              -0.38607296347618103,
+              0.7728829979896545
+            ],
+            "closest_ee_minus_button": [
+              -0.00010332654586645007,
+              0.0017363919148548068,
+              0.03513482381716859
+            ],
+            "button_min_z_position": [
+              0.16097216308116913,
+              -0.3860675394535064,
+              0.769112229347229
+            ],
+            "min_active_finger_to_button": 0.1454897533258809,
+            "closest_active_finger": [
+              0.033451735973358154,
+              -0.4471694529056549,
+              0.8109023571014404
+            ],
+            "closest_active_finger_button": [
+              0.1609945446252823,
+              -0.3860659897327423,
+              0.776748776435852
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12754280865192413,
+              -0.0611034631729126,
+              0.03415358066558838
+            ],
+            "min_contact_pad_to_button": 0.021078448758706014,
+            "closest_contact_pad": [
+              0.16097216308116913,
+              -0.3860675394535064,
+              0.790190678105935
+            ],
+            "closest_contact_pad_button": [
+              0.16097216308116913,
+              -0.3860675394535064,
+              0.769112229347229
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021078448758706014
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "814ac9c8ca0b7fa62ed12d7639522b464fa6481e578a0a62052c73f887adad99",
+    "visual_seed": 343401409593823306,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e92e9e8b9769abf48edf382ce1394d59aeb6cb7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_3_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2416703560621536,
+              -0.0990147826986162,
+              1.0467026097670147
+            ],
+            "current_z": 1.0467026097670147,
+            "required_z": 0.8565866118759726,
+            "initial_z": 0.7565866118759726,
+            "lift_margin": 0.19011599789104205,
+            "gripper_z": 1.0502644071865466,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23709324389828412,
+              -0.10359236645052756,
+              1.0502644071865466
+            ],
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+              0.004577112163869468,
+              0.004577583751911363,
+              -0.003561797419531887
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+            "object_to_gripper_xy": 0.006473347570338298,
+            "object_to_gripper_z": -0.003561797419531887,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2416703560621536,
+              -0.12309904290298099,
+              1.0467026097670147
+            ],
+            "finger_b": [
+              0.23029288070751025,
+              -0.0990147826986162,
+              1.0467026097670147
+            ],
+            "finger_midpoint": [
+              0.23598161838483192,
+              -0.1110569128007986,
+              1.0467026097670147
+            ],
+            "object_minus_finger_midpoint": [
+              0.00568873767732167,
+              0.0120421301021824,
+              0.0
+            ],
+            "finger_gap": 0.026636413704496067,
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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": 0.817551497215207,
+            "object_to_finger_line_xy": 0.010287348738081993,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04823050090300017,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3867262919862213,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23699902092589503,
+              -0.0997968959403314,
+              1.244041694886848
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+            "held_position": [
+              0.24189484609015116,
+              -0.09514184989154395,
+              1.2410471866576887
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00738956272656227,
+            "max_held_gripper_dist": 0.007393798483135461,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002994508229159365,
+            "max_held_gripper_z_dist": 0.0035643577464774534,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08614855220199874,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24189484609015116,
+              -0.11882917261932507,
+              1.2410471866576887
+            ],
+            "held_grasp_finger_b": [
+              0.2323381923794284,
+              -0.09514184989154395,
+              1.2410471866576887
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+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3180223865417674,
+              -0.3248000153148858,
+              0.84701958708937
+            ],
+            "target_position": [
+              0.3105758636450584,
+              -0.3285628137081846,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008343222099394414,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18527187376561932,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.84701958708937,
+            "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": 0.07535947004833093,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08533006923719226,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15451234897635735,
+            "release_required_pad_clearance": 0.05266503461859613,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3876533103456376,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007676422595977783,
+            "max_z_decrease": 0.007676422595977783,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509527103761192,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007676422595977783,
+            "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": 0.021204677307344766,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007676422595977783,
+            "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": 0.007676443931781863,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1662757843732834,
+              -0.384824275970459,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1662757843732834,
+              -0.384824275970459,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16686909630794247,
+              -0.38511967929336965,
+              0.8077131252998105
+            ],
+            "closest_button": [
+              0.1662651002407074,
+              -0.38482922315597534,
+              0.7726242542266846
+            ],
+            "closest_ee_minus_button": [
+              0.0006039960672350742,
+              -0.00029045613739431264,
+              0.03508887107312597
+            ],
+            "button_min_z_position": [
+              0.1662580668926239,
+              -0.38482797145843506,
+              0.7691324353218079
+            ],
+            "min_active_finger_to_button": 0.14560012957760962,
+            "closest_active_finger": [
+              0.02592022716999054,
+              -0.36722666025161743,
+              0.8090270757675171
+            ],
+            "closest_active_finger_button": [
+              0.16628029942512512,
+              -0.38483086228370667,
+              0.7745518684387207
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14036007225513458,
+              0.017604202032089233,
+              0.03447520732879639
+            ],
+            "min_contact_pad_to_button": 0.021204677307344766,
+            "closest_contact_pad": [
+              0.1662580668926239,
+              -0.38653747387662835,
+              0.7902680910057656
+            ],
+            "closest_contact_pad_button": [
+              0.1662580668926239,
+              -0.38482797145843506,
+              0.7691324353218079
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017095024181932872,
+              0.0211356556839577
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2c3f0a4170dfba99f1dc83a0a3c8a85cf38b3c240bbe8d72a51fed087cb7ed28",
+    "visual_seed": 647822261085923287,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d08d30ba8d681d3489705105d5622c551590716
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_40_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23860952291160467,
+              -0.0991684595751396,
+              1.047337983635417
+            ],
+            "current_z": 1.047337983635417,
+            "required_z": 0.8565865233980019,
+            "initial_z": 0.7565865233980019,
+            "lift_margin": 0.19075146023741518,
+            "gripper_z": 1.051127075414479,
+            "force_virtual_attach": false,
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+              0.16519948840141296,
+              -0.38120126724243164,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16416710113279354,
+              -0.3816752266944028,
+              0.8061006627284645
+            ],
+            "closest_button": [
+              0.16518643498420715,
+              -0.3812040090560913,
+              0.7710219621658325
+            ],
+            "closest_ee_minus_button": [
+              -0.0010193338514136174,
+              -0.000471217638311483,
+              0.03507870056263196
+            ],
+            "button_min_z_position": [
+              0.16518111526966095,
+              -0.3812040090560913,
+              0.7691094875335693
+            ],
+            "min_active_finger_to_button": 0.14695481235549587,
+            "closest_active_finger": [
+              0.02348240464925766,
+              -0.363191157579422,
+              0.809863805770874
+            ],
+            "closest_active_finger_button": [
+              0.16520117223262784,
+              -0.38120630383491516,
+              0.7754114866256714
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14171876758337018,
+              0.018015146255493164,
+              0.03445231914520264
+            ],
+            "min_contact_pad_to_button": 0.02119833160246914,
+            "closest_contact_pad": [
+              0.16518111526966095,
+              -0.38314576487588453,
+              0.7902186999078987
+            ],
+            "closest_contact_pad_button": [
+              0.16518111526966095,
+              -0.3812040090560913,
+              0.7691094875335693
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019417558197932228,
+              0.02110921237432939
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0598a974e9d353388ae4847e335c960d9dfc12cb0a9ad3c9ec8a09d49859d33b",
+    "visual_seed": 5054189120462169123,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d721abac612103e6145d3c70662407caacbdef6a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_41_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23718950979233175,
+              -0.09730977661705004,
+              1.0449781693351383
+            ],
+            "current_z": 1.0449781693351383,
+            "required_z": 0.8565865494147878,
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+            "lift_margin": 0.18839161992035047,
+            "gripper_z": 1.0489021277433657,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23326445933371814,
+              -0.10143886149206967,
+              1.0489021277433657
+            ],
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+              0.003925050458613605,
+              0.004129084875019631,
+              -0.003923958408227346
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+            "object_to_gripper_xy": 0.005696960857139423,
+            "object_to_gripper_z": -0.003923958408227346,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23718950979233175,
+              -0.12116446020776388,
+              1.0449781693351383
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+            "finger_b": [
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+              1.0449781693351383
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+            "finger_midpoint": [
+              0.2319983160584666,
+              -0.10923711841240696,
+              1.0449781693351383
+            ],
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+              0.005191193733865146,
+              0.011927341795356927,
+              0.0
+            ],
+            "finger_gap": 0.026016146885024214,
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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": 0.8407393391993455,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0510053816528694,
+            "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": 201,
+            "max_stable_success_frames": 201,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.09640095142125125,
+              1.2410389278718028
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+              -0.09201994032839973,
+              1.2376077902821156
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0069169850039401265,
+            "max_held_gripper_dist": 0.006922429684011343,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003431137589687161,
+            "max_held_gripper_z_dist": 0.003940319368835432,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08509985070370649,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              -0.11531357263402046,
+              1.2376077902821156
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+              -0.1036667564812101,
+              1.2376077902821156
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+            "held_grasp_object_position": [
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+            "held_grasp_finger_gap": 0.02492412170307249,
+            "held_grasp_max_gap": 0.12496608257293701,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023015163013704792,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9940979648676537,
+              -0.10731446674629086
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004428741943040725,
+            "held_grasp_line_xy_max_dist": 0.047483041286468505,
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+            "held_grasp_min_top_clearance": 0.013560231775045395
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3059512100833116,
+              -0.32448923644482275,
+              0.8470189745119234
+            ],
+            "target_position": [
+              0.303655241119105,
+              -0.32529356939836457,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0024327813269492938,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18423907091907518,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470189745119234,
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587312054109856,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08890241826502697,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15186979053222102,
+            "release_required_pad_clearance": 0.05445120913251349,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.9256770693238154,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074904561042785645,
+            "max_z_decrease": 0.0074904561042785645,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035154385317148186,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074904561042785645,
+            "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": 0.021150300227495877,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.0074904561042785645,
+            "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": 0.007490481288860468,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15935516357421875,
+              -0.38155502080917353,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15935516357421875,
+              -0.38155502080917353,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1604126127185528,
+              -0.3819732682238812,
+              0.8081657305081656
+            ],
+            "closest_button": [
+              0.15934783220291135,
+              -0.38156348466873163,
+              0.7730298638343811
+            ],
+            "closest_ee_minus_button": [
+              0.0010647805156414614,
+              -0.00040978355514958986,
+              0.035135866673784544
+            ],
+            "button_min_z_position": [
+              0.15933595597743985,
+              -0.38155791163444513,
+              0.7693184018135071
+            ],
+            "min_active_finger_to_button": 0.14509481043813802,
+            "closest_active_finger": [
+              0.019298307597637177,
+              -0.3653032183647156,
+              0.810540497303009
+            ],
+            "closest_active_finger_button": [
+              0.15935690701007837,
+              -0.3815575838088989,
+              0.7763076424598694
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1400585994124412,
+              0.01625436544418335,
+              0.03423285484313965
+            ],
+            "min_contact_pad_to_button": 0.021150300227495877,
+            "closest_contact_pad": [
+              0.15933595597743985,
+              -0.38323711975240643,
+              0.7904019370912964
+            ],
+            "closest_contact_pad_button": [
+              0.15933595597743985,
+              -0.38155791163444513,
+              0.7693184018135071
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001679208117961295,
+              0.021083535277789278
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "117995444eb9b5ce9858212dbec2ef4404dc88b498597f3f95a6ce2eda3e0e4f",
+    "visual_seed": 5184455308446578424,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e0231e15eeab0f7cfc8c2f4077a61e7d735704b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_42_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23804084883326285,
+              -0.10215125937474469,
+              1.0463287194211413
+            ],
+            "current_z": 1.0463287194211413,
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+            "initial_z": 0.7565866677296567,
+            "lift_margin": 0.18974205169148461,
+            "gripper_z": 1.050402648791248,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.233380384533779,
+              -0.10666459279996537,
+              1.050402648791248
+            ],
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+              0.004660464299483857,
+              0.004513333425220686,
+              -0.004073929370106644
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+            "object_to_gripper_xy": 0.006487688809890457,
+            "object_to_gripper_z": -0.004073929370106644,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23804084883326285,
+              -0.12647283427684222,
+              1.0463287194211413
+            ],
+            "finger_b": [
+              0.2270042076582326,
+              -0.10215125937474469,
+              1.0463287194211413
+            ],
+            "finger_midpoint": [
+              0.2325225282457477,
+              -0.11431204682579346,
+              1.0463287194211413
+            ],
+            "object_minus_finger_midpoint": [
+              0.005518320587515141,
+              0.012160787451048774,
+              0.0
+            ],
+            "finger_gap": 0.026708546462597207,
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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": 1.0463287194211413,
+            "object_top_z": 1.0933306345145075,
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+            "fingertip_min_top_clearance": 0.014100574528009878,
+            "object_projection_between_fingers": 0.8292450355382821,
+            "object_to_finger_line_xy": 0.010050284667568155,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05057453330619707,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.77441621457806,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
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+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c9053e326da95b25f9267a22174bc5c370e9267f1c6e8c9faf17ffab1b9f2cbd",
+    "visual_seed": 7288484619837314190,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      1272775230356696008,
+      6598834107714139108,
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+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4b36329f55a3b673d285659461a5ed62a9f0d05
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_44_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+            "stable_success_frames": 203,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "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"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
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+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15354778569914396,
+            "release_required_pad_clearance": 0.05379376758469544,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 2.5935790499304603,
+            "object_max_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"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007736921310424805,
+            "max_z_decrease": 0.007736921310424805,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518573048223234,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007736921310424805,
+            "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": 0.02113650059740363,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007736921310424805,
+            "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": 0.007736947515024173,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16383185982704163,
+              -0.37970763444900507,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16383185982704163,
+              -0.37970763444900507,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16549058460910654,
+              -0.3804661871441198,
+              0.8080224767463183
+            ],
+            "closest_button": [
+              0.16382211446762085,
+              -0.37971717119216913,
+              0.7728843092918396
+            ],
+            "closest_ee_minus_button": [
+              0.0016684701414856895,
+              -0.000749015951950649,
+              0.03513816745447873
+            ],
+            "button_min_z_position": [
+              0.1638118475675583,
+              -0.37970986962318415,
+              0.7690719366073608
+            ],
+            "min_active_finger_to_button": 0.14447558831280866,
+            "closest_active_finger": [
+              0.02405855804681778,
+              -0.3668353855609894,
+              0.8109467029571533
+            ],
+            "closest_active_finger_button": [
+              0.16383716464042664,
+              -0.3797086179256439,
+              0.7767499685287476
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13977860659360886,
+              0.012873232364654541,
+              0.03419673442840576
+            ],
+            "min_contact_pad_to_button": 0.02113650059740363,
+            "closest_contact_pad": [
+              0.1638118475675583,
+              -0.3814220072634395,
+              0.7901389782175363
+            ],
+            "closest_contact_pad_button": [
+              0.1638118475675583,
+              -0.37970986962318415,
+              0.7690719366073608
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017121376402553512,
+              0.021067041610175474
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b9f466b412de5ad2fd3cb91ea25b33918a9ae9f3438c030ad0187c068577741a",
+    "visual_seed": 731159030009605440,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..abb42a42d84f6145a75d61846a8fadc77017d631
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_45_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23988681496094208,
+              -0.10241154206159876,
+              1.0456147005147978
+            ],
+            "current_z": 1.0456147005147978,
+            "required_z": 0.8565865866928112,
+            "initial_z": 0.7565865866928112,
+            "lift_margin": 0.1890281138219866,
+            "gripper_z": 1.0492457746254968,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23540929986880357,
+              -0.10684320399595958,
+              1.0492457746254968
+            ],
+            "object_minus_gripper": [
+              0.0044775150921385065,
+              0.004431661934360814,
+              -0.003631074110699073
+            ],
+            "object_to_gripper_xy": 0.006299822926145681,
+            "object_to_gripper_z": -0.003631074110699073,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23988681496094208,
+              -0.12657265956288533,
+              1.0456147005147978
+            ],
+            "finger_b": [
+              0.2289256733987615,
+              -0.10241154206159876,
+              1.0456147005147978
+            ],
+            "finger_midpoint": [
+              0.23440624417985179,
+              -0.11449210081224204,
+              1.0456147005147978
+            ],
+            "object_minus_finger_midpoint": [
+              0.005480570781090294,
+              0.012080558750643275,
+              0.0
+            ],
+            "finger_gap": 0.026531231092000587,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013265615546000286,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0456147005147978,
+            "object_top_z": 1.0919546272058205,
+            "finger_top_clearance": 0.046339926691022715,
+            "fingertip_min_top_clearance": 0.013901978007306814,
+            "object_projection_between_fingers": 0.8293144450546037,
+            "object_to_finger_line_xy": 0.00998195026509459,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0492996965942224,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5027629515564462,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23721599988407438,
+              -0.10190753216617864,
+              1.2423437759210731
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+            "held_position": [
+              0.24194194153476725,
+              -0.09732360922674563,
+              1.2392563178365426
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007271813489367499,
+            "max_held_gripper_dist": 0.007274172598946683,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003087458084530592,
+            "max_held_gripper_z_dist": 0.003643672994300129,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08540971297460963,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24194194153476725,
+              -0.12091686119232573,
+              1.2392563178365426
+            ],
+            "held_grasp_finger_b": [
+              0.23257215599403783,
+              -0.09732360922674563,
+              1.2392563178365426
+            ],
+            "held_grasp_midpoint": [
+              0.23725704876440254,
+              -0.10912023520953568,
+              1.2392563178365426
+            ],
+            "held_grasp_object_position": [
+              0.24194194153476725,
+              -0.09732360922674563,
+              1.2392563178365426
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+              "held_object": "beaker_b",
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+                "beaker_b"
+              ],
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+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31171608678105267,
+              -0.32156945713126095,
+              0.8470194895694505
+            ],
+            "target_position": [
+              0.30718941432236346,
+              -0.3236834926762724,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004995989374871328,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18358696595938717,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194895694505,
+            "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": 0.0753262345334987,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860925906600256,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15268550396607278,
+            "release_required_pad_clearance": 0.0530462953300128,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.122554213974654,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007594883441925049,
+            "max_z_decrease": 0.007594883441925049,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03523015868941041,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007594883441925049,
+            "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": 0.0210818620173161,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007594883441925049,
+            "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": 0.0075949063772574165,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16288934648036957,
+              -0.3799449503421783,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16288934648036957,
+              -0.3799449503421783,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16462627098175345,
+              -0.3781763288893716,
+              0.8081031169525583
+            ],
+            "closest_button": [
+              0.16288071870803833,
+              -0.3799535632133483,
+              0.7729611396789551
+            ],
+            "closest_ee_minus_button": [
+              0.0017455522737151175,
+              0.0017772343239766952,
+              0.03514197727360324
+            ],
+            "button_min_z_position": [
+              0.1628708839416504,
+              -0.3799476921558379,
+              0.7692139744758606
+            ],
+            "min_active_finger_to_button": 0.14384298441785437,
+            "closest_active_finger": [
+              0.038055770099163055,
+              -0.44272512197494507,
+              0.8103762865066528
+            ],
+            "closest_active_finger_button": [
+              0.16289041936397552,
+              -0.37994769215583796,
+              0.7762279510498047
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12483464926481247,
+              -0.06277742981910711,
+              0.034148335456848145
+            ],
+            "min_contact_pad_to_button": 0.0210818620173161,
+            "closest_contact_pad": [
+              0.1628708839416504,
+              -0.3799476921558379,
+              0.7902958364931767
+            ],
+            "closest_contact_pad_button": [
+              0.1628708839416504,
+              -0.3799476921558379,
+              0.7692139744758606
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.0210818620173161
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "375be97845c30341f4866480fb52812ef4ab9f86d4112ed87a6af3ec99e7bc52",
+    "visual_seed": 8188587571256660662,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..11de73a5f10d22d1feecc36a4ce7ec6f7911dad5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23927429507646966,
+              -0.09600768237530488,
+              1.047638142624051
+            ],
+            "current_z": 1.047638142624051,
+            "required_z": 0.8565865978108397,
+            "initial_z": 0.7565865978108397,
+            "lift_margin": 0.1910515448132114,
+            "gripper_z": 1.051256538180196,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23506783617614332,
+              -0.1003844339375684,
+              1.051256538180196
+            ],
+            "object_minus_gripper": [
+              0.0042064589003263375,
+              0.004376751562263526,
+              -0.003618395556144849
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+              -0.38089585304260254,
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+            ],
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+              0.0015108424782348528,
+              -0.00043560470040621135,
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+            ],
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+              0.16181927919387817,
+              -0.3808902204036712,
+              0.76915043592453
+            ],
+            "min_active_finger_to_button": 0.14464964613704687,
+            "closest_active_finger": [
+              0.021925486624240875,
+              -0.3675175607204437,
+              0.8110013604164124
+            ],
+            "closest_active_finger_button": [
+              0.16183772683143618,
+              -0.38088974356651306,
+              0.7768067717552185
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.1399122402071953,
+              0.013372182846069336,
+              0.03419458866119385
+            ],
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+            "closest_contact_pad": [
+              0.16181927919387817,
+              -0.38229162119156335,
+              0.7902168329471145
+            ],
+            "closest_contact_pad_button": [
+              0.16181927919387817,
+              -0.3808902204036712,
+              0.76915043592453
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014014007878921375,
+              0.021066397022584504
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f2b01a31df9305b7bf05ff32b4b075fd6be2801b2ee2025355c54f96dfe80587",
+    "visual_seed": 3667010150137915022,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..232f59a7575874144670222514596b297431151a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_47_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24168304869856047,
+              -0.09755345920810436,
+              1.0465482936114725
+            ],
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+            "required_z": 0.8565865200981322,
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+            "lift_margin": 0.18996177351334032,
+            "gripper_z": 1.0502631806250573,
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+            "gripper_position": [
+              0.23738971633392525,
+              -0.10187745872626029,
+              1.0502631806250573
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+              0.004293332364635222,
+              0.00432399951815593,
+              -0.0037148870135848
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+            "object_to_gripper_xy": 0.006093412395877779,
+            "object_to_gripper_z": -0.0037148870135848,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24168304869856047,
+              -0.12158715987278512,
+              1.0465482936114725
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+              -0.09755345920810436,
+              1.0465482936114725
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+              0.23633282180588416,
+              -0.10957030954044475,
+              1.0465482936114725
+            ],
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+              0.012016850332340387,
+              0.0
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+            "finger_gap": 0.026308144724627468,
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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": 0.00977535686933762,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049260064257918415,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.09839769498102009,
+              1.245001893241741
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+            "held_position": [
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+              -0.09391897425695793,
+              1.2417480868066262
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+            "required_gripper_z": 0.8930800627579277,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0071370672938827606,
+            "max_held_gripper_dist": 0.007140862128937182,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003253806435114859,
+            "max_held_gripper_z_dist": 0.003746363286268206,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08505424078788515,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              1.2417480868066262
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+              -0.1057213808524464,
+              1.2417480868066262
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+            "held_grasp_object_position": [
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+              -0.09391897425695793,
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+            "held_grasp_max_gap": 0.12496622413396835,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0232410515241285,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.993058451822277,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00457821214698742,
+            "held_grasp_line_xy_max_dist": 0.047483112066984176,
+            "held_grasp_object_top_z": 0.045200835913419724,
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+            "held_grasp_min_top_clearance": 0.013560250774025917
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31036457114988647,
+              -0.3212494680665382,
+              0.8470197379175213
+            ],
+            "target_position": [
+              0.30687605017276426,
+              -0.3228644676670488,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0038442167365369865,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18238234632020994,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197379175213,
+            "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": 0.07559653334752858,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08775454658958913,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15078281861090034,
+            "release_required_pad_clearance": 0.05387727329479457,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7633703377152905,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007661581039428711,
+            "max_z_decrease": 0.007661581039428711,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513373807499411,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007661581039428711,
+            "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": 0.02129890948530572,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007661581039428711,
+            "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": 0.007661600054282025,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16257597506046295,
+              -0.37912592291831965,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16257597506046295,
+              -0.37912592291831965,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16238998115910774,
+              -0.3805941812875352,
+              0.8076406325898015
+            ],
+            "closest_button": [
+              0.16256554424762726,
+              -0.3791306912899017,
+              0.7725378274917603
+            ],
+            "closest_ee_minus_button": [
+              -0.00017556308851951474,
+              -0.0014634899976335158,
+              0.0351028050980412
+            ],
+            "button_min_z_position": [
+              0.16255933046340945,
+              -0.37912970781326294,
+              0.7691472768783569
+            ],
+            "min_active_finger_to_button": 0.146181254719402,
+            "closest_active_finger": [
+              0.021502263844013214,
+              -0.3622867166996002,
+              0.810446560382843
+            ],
+            "closest_active_finger_button": [
+              0.1625785380601883,
+              -0.37913060188293457,
+              0.7760557532310486
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14107627421617508,
+              0.01684388518333435,
+              0.034390807151794434
+            ],
+            "min_contact_pad_to_button": 0.02129890948530572,
+            "closest_contact_pad": [
+              0.16255933046340945,
+              -0.3820530619291275,
+              0.7902446119227767
+            ],
+            "closest_contact_pad_button": [
+              0.16255933046340945,
+              -0.37912970781326294,
+              0.7691472768783569
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002923354115864585,
+              0.021097335044419796
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "25fb07839aa40c6c193fcbe047d9f2c49a2eb04a25fcaa25cdd73364039b01e7",
+    "visual_seed": 8759467838001661475,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..95e208a7cbc9d5f40c5381f4f731bd8d27277869
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_48_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24309125194384706,
+              -0.10122079665972325,
+              1.0476507530413672
+            ],
+            "current_z": 1.0476507530413672,
+            "required_z": 0.8565867324710066,
+            "initial_z": 0.7565867324710066,
+            "lift_margin": 0.19106402057036065,
+            "gripper_z": 1.051277939304264,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23871554764312028,
+              -0.10560889587467277,
+              1.051277939304264
+            ],
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+              0.004375704300726785,
+              0.004388099214949523,
+              -0.003627186262896709
+            ],
+            "object_to_gripper_xy": 0.006196951092887494,
+            "object_to_gripper_z": -0.003627186262896709,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24309125194384706,
+              -0.12527068401052055,
+              1.0476507530413672
+            ],
+            "finger_b": [
+              0.2322076267235753,
+              -0.10122079665972325,
+              1.0476507530413672
+            ],
+            "finger_midpoint": [
+              0.2376494393337112,
+              -0.1132457403351219,
+              1.0476507530413672
+            ],
+            "object_minus_finger_midpoint": [
+              0.005441812610135877,
+              0.01202494367539865,
+              0.0
+            ],
+            "finger_gap": 0.0263979237729291,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01319896188646455,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476507530413672,
+            "object_top_z": 1.0952819360162986,
+            "finger_top_clearance": 0.04763118297493141,
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+            "object_projection_between_fingers": 0.8300161678656273,
+            "object_to_finger_line_xy": 0.009915551039822886,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05092374539288455,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5884984279094474,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    }
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+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
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+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a1e204f03b5c1a048c6534932140835055d4f1d787b3e2d016e3c83c5bfeb4a5",
+    "visual_seed": 8910630744514037565,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      1272775230356696008,
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+      1327563167362417537
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c52236590e9b96d290b4ac71794425c92206c596
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_49_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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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+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
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+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "source_missing": false,
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "release_min_pad_clearance": 0.15352320269884998,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007563114166259766,
+            "max_z_decrease": 0.007563114166259766,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515461086460028,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007563114166259766,
+            "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": 0.021125915619313554,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007563114166259766,
+            "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": 0.0075631335634158536,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16565497219562525,
+              -0.3839482963085174,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16565497219562525,
+              -0.3839482963085174,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1668203571983403,
+              -0.3826506683322859,
+              0.8077531318618915
+            ],
+            "closest_button": [
+              0.16564413905143732,
+              -0.38395208120346064,
+              0.7726423144340515
+            ],
+            "closest_ee_minus_button": [
+              0.0011762181469029687,
+              0.0013014128711747452,
+              0.035110817427839947
+            ],
+            "button_min_z_position": [
+              0.16563825309276575,
+              -0.3839520215988158,
+              0.7692457437515259
+            ],
+            "min_active_finger_to_button": 0.14458463720036305,
+            "closest_active_finger": [
+              0.03908032178878784,
+              -0.44480806589126587,
+              0.8107241988182068
+            ],
+            "closest_active_finger_button": [
+              0.16565808653831476,
+              -0.38395079970359797,
+              0.7763850092887878
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12657776474952692,
+              -0.0608572661876679,
+              0.034339189529418945
+            ],
+            "min_contact_pad_to_button": 0.021125915619313554,
+            "closest_contact_pad": [
+              0.16563825309276575,
+              -0.3839803788006872,
+              0.7903716403389718
+            ],
+            "closest_contact_pad_button": [
+              0.16563825309276575,
+              -0.3839520215988158,
+              0.7692457437515259
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -2.835720187138735e-05,
+              0.021125896587445903
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a8630500ff409c15a02f88073c21e09978d76e88fc95c6dd05dfe7669933132b",
+    "visual_seed": 3901507768332352581,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eae75b863932ea7e030c017ae6ca9e76d2b7f9d8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_4_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23689336427502325,
+              -0.09626624355336998,
+              1.043793251813842
+            ],
+            "current_z": 1.043793251813842,
+            "required_z": 0.8565865695900511,
+            "initial_z": 0.7565865695900511,
+            "lift_margin": 0.1872066822237909,
+            "gripper_z": 1.0481088093752435,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2322519930320684,
+              -0.10073374538851244,
+              1.0481088093752435
+            ],
+            "object_minus_gripper": [
+              0.004641371242954856,
+              0.004467501835142468,
+              -0.004315557561401562
+            ],
+            "object_to_gripper_xy": 0.006442119190292091,
+            "object_to_gripper_z": -0.004315557561401562,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23689336427502325,
+              -0.12060441959117897,
+              1.043793251813842
+            ],
+            "finger_b": [
+              0.22605144063843313,
+              -0.09626624355336998,
+              1.043793251813842
+            ],
+            "finger_midpoint": [
+              0.23147240245672818,
+              -0.10843533157227447,
+              1.043793251813842
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054209618182950725,
+              0.012169088018904498,
+              0.0
+            ],
+            "finger_gap": 0.02664383833063531,
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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": 1.043793251813842,
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+            "fingertip_min_top_clearance": 0.014368738501008747,
+            "object_projection_between_fingers": 0.8344157182512185,
+            "object_to_finger_line_xy": 0.009903702416344775,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05163039680464464,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.390244589947309,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23352548237926488,
+              -0.09500969873609182,
+              1.241566673454564
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+            "held_position": [
+              0.2383023272187956,
+              -0.0902652438468075,
+              1.237723644254238
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007752223697234448,
+            "max_held_gripper_dist": 0.007754912892435891,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003843029200325976,
+            "max_held_gripper_z_dist": 0.004353614821046126,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08597989657083127,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2383023272187956,
+              -0.11398988996881507,
+              1.237723644254238
+            ],
+            "held_grasp_finger_b": [
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+              -0.0902652438468075,
+              1.237723644254238
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+            "held_grasp_midpoint": [
+              0.23347974202384414,
+              -0.10212756690781127,
+              1.237723644254238
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+            "held_grasp_object_position": [
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+              -0.0902652438468075,
+              1.237723644254238
+            ],
+            "held_grasp_finger_gap": 0.025610313263698056,
+            "held_grasp_max_gap": 0.12496589630842209,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023688074497296534,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+                "beaker_b"
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+                "/World/target_beaker"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "geometry",
+                "gripper",
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+                "joint1",
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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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "link0",
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+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3141698643313039,
+              -0.3197178675369181,
+              0.8470195198779092
+            ],
+            "target_position": [
+              0.3120868190206041,
+              -0.32075776745464873,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.002328190199559436,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18078509120509864,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195198779092,
+            "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": 0.07549693331759497,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08867157939636648,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1492914180329596,
+            "release_required_pad_clearance": 0.05433578969818324,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.6936877132163004,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007699906826019287,
+            "max_z_decrease": 0.007699906826019287,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035071438453911655,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007699906826019287,
+            "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": 0.021218428245470853,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007699906826019287,
+            "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": 0.0076999269424971786,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1677867472171783,
+              -0.3770192265510559,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1677867472171783,
+              -0.3770192265510559,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1684901635257954,
+              -0.3769650142347388,
+              0.8074079974253408
+            ],
+            "closest_button": [
+              0.16777639091014857,
+              -0.37702476978302,
+              0.7723438739776611
+            ],
+            "closest_ee_minus_button": [
+              0.0007137726156468405,
+              5.9755548281192894e-05,
+              0.03506412344767962
+            ],
+            "button_min_z_position": [
+              0.16776970028877253,
+              -0.3770236074924469,
+              0.7691089510917664
+            ],
+            "min_active_finger_to_button": 0.14556474969926567,
+            "closest_active_finger": [
+              0.027571603655815125,
+              -0.3588554859161377,
+              0.8088850378990173
+            ],
+            "closest_active_finger_button": [
+              0.16779367625713346,
+              -0.3770259916782379,
+              0.7742916941642761
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14022207260131833,
+              0.01817050576210022,
+              0.03459334373474121
+            ],
+            "min_contact_pad_to_button": 0.021218428245470853,
+            "closest_contact_pad": [
+              0.16776970028877253,
+              -0.37843827111438255,
+              0.7902801679685774
+            ],
+            "closest_contact_pad_button": [
+              0.16776970028877253,
+              -0.3770236074924469,
+              0.7691089510917664
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014146636219356523,
+              0.021171216876811005
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0519db736e5a45066d7aeec1130d51a2eaaa0a0abe2bea561dd9af1f90f98023",
+    "visual_seed": 18517110861798544,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..be4d69af742585556b9fefe2a7dc485aaab0ec60
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_50_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24036164612928398,
+              -0.09926738629946778,
+              1.0470487263803947
+            ],
+            "current_z": 1.0470487263803947,
+            "required_z": 0.8565865774194672,
+            "initial_z": 0.7565865774194672,
+            "lift_margin": 0.1904621489609275,
+            "gripper_z": 1.0506266421514228,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2359382615599083,
+              -0.10371191795291582,
+              1.0506266421514228
+            ],
+            "object_minus_gripper": [
+              0.004423384569375688,
+              0.004444531653448033,
+              -0.003577915771028062
+            ],
+            "object_to_gripper_xy": 0.006270581525432266,
+            "object_to_gripper_z": -0.003577915771028062,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24036164612928398,
+              -0.12333053502728245,
+              1.0470487263803947
+            ],
+            "finger_b": [
+              0.22931183542471784,
+              -0.09926738629946778,
+              1.0470487263803947
+            ],
+            "finger_midpoint": [
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+              -0.36702537536621094,
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+              0.15915833413600924,
+              -0.38222971558570856,
+              0.7767293453216553
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1387562453746796,
+              0.015204340219497625,
+              0.03423726558685303
+            ],
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+            "closest_contact_pad": [
+              0.1591341197490692,
+              -0.38470144873416284,
+              0.7901860597776822
+            ],
+            "closest_contact_pad_button": [
+              0.1591341197490692,
+              -0.3822315633296966,
+              0.7691013216972351
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024698854044662433,
+              0.021084738080447085
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f99a9b3468f3befb17565e91bd752ab760a1320c65af447188136e2f24051070",
+    "visual_seed": 7659551303793269206,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fca2903791f666a98fe4dab7dd117b26ff45e6d8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_51_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23812814128402096,
+              -0.10023137825043246,
+              1.0461061771722113
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+            "gripper_z": 1.0497696668750134,
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+            "gripper_position": [
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+              -0.10463823349018922,
+              1.0497696668750134
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+              0.004406855239756757,
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+            "object_to_gripper_z": -0.0036634897028020585,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23812814128402096,
+              -0.12431524487800263,
+              1.0461061771722113
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+            "finger_b": [
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+              -0.10023137825043246,
+              1.0461061771722113
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+            "finger_midpoint": [
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+              -0.11227331156421755,
+              1.0461061771722113
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+            "object_minus_finger_midpoint": [
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+              0.012041933313785086,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+          }
+        },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.09521808510751531,
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+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.003087981381661997,
+            "max_held_gripper_z_dist": 0.0036663959052860573,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_motion_ok": true,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              1.2375954782461
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+              -0.09521808510751531,
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+            "held_grasp_max_gap": 0.12496605277061462,
+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.02283436213160612,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9898463535411549,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042993880291046956,
+            "held_grasp_line_xy_max_dist": 0.04748302638530731,
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+            "held_grasp_min_top_clearance": 0.013560226187109947
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31577280250818585,
+              -0.3213560164880299,
+              0.8470198068296406
+            ],
+            "target_position": [
+              0.31137852868542926,
+              -0.32343439909871724,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004860999558297785,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1831082775245578,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198068296406,
+            "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": 0.07538719430893902,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549879975949125,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15211228629664808,
+            "release_required_pad_clearance": 0.052749399879745626,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5482241007689752,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007777571678161621,
+            "max_z_decrease": 0.007777571678161621,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035160121104173284,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007777571678161621,
+            "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": 0.021117189903022915,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007777571678161621,
+            "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": 0.00777759611864955,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16707845032215116,
+              -0.37969586253166193,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16707845032215116,
+              -0.37969586253166193,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1683079971255843,
+              -0.3784359165741612,
+              0.8076412422173986
+            ],
+            "closest_button": [
+              0.16706828773021698,
+              -0.37970164418220514,
+              0.7725257873535156
+            ],
+            "closest_ee_minus_button": [
+              0.0012397093953673277,
+              0.0012657276080439428,
+              0.03511545486388301
+            ],
+            "button_min_z_position": [
+              0.16705931723117828,
+              -0.3796996176242828,
+              0.769031286239624
+            ],
+            "min_active_finger_to_button": 0.1445383210143147,
+            "closest_active_finger": [
+              0.041052110493183136,
+              -0.44159480929374695,
+              0.8108909726142883
+            ],
+            "closest_active_finger_button": [
+              0.16708171367645264,
+              -0.3796983063220977,
+              0.7765880823135376
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1260296031832695,
+              -0.061896502971649225,
+              0.03430289030075073
+            ],
+            "min_contact_pad_to_button": 0.021117189903022915,
+            "closest_contact_pad": [
+              0.16705931723117828,
+              -0.3796996176242828,
+              0.7901484761426469
+            ],
+            "closest_contact_pad_button": [
+              0.16705931723117828,
+              -0.3796996176242828,
+              0.769031286239624
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021117189903022915
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "84aa81e01d56bb890d138fd3aba76f5ac7a3aacb675fb1f02c87363a2b01a571",
+    "visual_seed": 1349487295642982324,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..588c794ebc5d676f11e88ea6fc11a2b4036f01d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_52_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24383131703227542,
+              -0.10161932209167844,
+              1.0469679171994428
+            ],
+            "current_z": 1.0469679171994428,
+            "required_z": 0.8565866858477321,
+            "initial_z": 0.7565866858477321,
+            "lift_margin": 0.1903812313517107,
+            "gripper_z": 1.0512376899816003,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23899231838698737,
+              -0.10621754831361785,
+              1.0512376899816003
+            ],
+            "object_minus_gripper": [
+              0.004838998645288056,
+              0.004598226221939408,
+              -0.004269772782157455
+            ],
+            "object_to_gripper_xy": 0.006675297167709525,
+            "object_to_gripper_z": -0.004269772782157455,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24383131703227542,
+              -0.12601275208313942,
+              1.0469679171994428
+            ],
+            "finger_b": [
+              0.23272271690395618,
+              -0.10161932209167844,
+              1.0469679171994428
+            ],
+            "finger_midpoint": [
+              0.23827701696811582,
+              -0.11381603708740892,
+              1.0469679171994428
+            ],
+            "object_minus_finger_midpoint": [
+              0.005554300064159606,
+              0.012196714995730482,
+              0.0
+            ],
+            "finger_gap": 0.026803738984686486,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01340186949234323,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0469679171994428,
+            "object_top_z": 1.0947088164173624,
+            "finger_top_clearance": 0.047740899217919575,
+            "fingertip_min_top_clearance": 0.014322269765375905,
+            "object_projection_between_fingers": 0.8282376759932892,
+            "object_to_finger_line_xy": 0.01010966640467974,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05162028582812962,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.6196080147586995,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+        "ordinary_object_physical_only": true
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+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
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+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "50d98c34cb2f12d30716edc0650964161dd3d500d21e5eaee7fbd532f9b89531",
+    "visual_seed": 9167778657379909479,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      1272775230356696008,
+      6598834107714139108,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd98ae7e0da3e54df2fb70ee862ac80cee353fe7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_53_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              -0.10827034516080311,
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+              0.0,
+              1.0
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+            "stable_success_frames": 202,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_shake_count": 5,
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+              -0.10470660546571725,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1552440059930303,
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+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
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+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007763862609863281,
+            "max_z_decrease": 0.007763862609863281,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513027313087751,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007763862609863281,
+            "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": 0.02110783908974238,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007763862609863281,
+            "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": 0.007763881541965922,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16727821528911596,
+              -0.3798724710941314,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16727821528911596,
+              -0.3798724710941314,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16622829673814946,
+              -0.37998468161383697,
+              0.8079146618221579
+            ],
+            "closest_button": [
+              0.16727137565612799,
+              -0.3798817694187164,
+              0.7728000283241272
+            ],
+            "closest_ee_minus_button": [
+              -0.0010430789179785294,
+              -0.0001029121951205969,
+              0.03511463349803068
+            ],
+            "button_min_z_position": [
+              0.16726122796535497,
+              -0.37987479567527765,
+              0.7690449953079224
+            ],
+            "min_active_finger_to_button": 0.1471073764112795,
+            "closest_active_finger": [
+              0.039034418761730194,
+              -0.4433004558086395,
+              0.8108755350112915
+            ],
+            "closest_active_finger_button": [
+              0.16727939248085028,
+              -0.3798761963844299,
+              0.7766531705856323
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12824497371912008,
+              -0.06342425942420965,
+              0.03422236442565918
+            ],
+            "min_contact_pad_to_button": 0.02110783908974238,
+            "closest_contact_pad": [
+              0.16726122796535497,
+              -0.3812201143376928,
+              0.7901099184916184
+            ],
+            "closest_contact_pad_button": [
+              0.16726122796535497,
+              -0.37987479567527765,
+              0.7690449953079224
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013453186624151625,
+              0.021064923183696016
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "31967995d6014a0be979b294a12677fa28bd9c4f681014e4463bc5bd1d524cfb",
+    "visual_seed": 4218580513642600437,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..18af9b03c0f70500b4e188d0a4190da40b06966a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_54_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24566476327522466,
+              -0.10373742454544727,
+              1.0477873106117608
+            ],
+            "current_z": 1.0477873106117608,
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+            "initial_z": 0.7565866777588858,
+            "lift_margin": 0.19120063285287503,
+            "gripper_z": 1.0511650915398225,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24134890044180726,
+              -0.10813725236040486,
+              1.0511650915398225
+            ],
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+              0.004315862833417394,
+              0.0043998278149575965,
+              -0.0033777809280617355
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+            "object_to_gripper_xy": 0.006163209942728559,
+            "object_to_gripper_z": -0.0033777809280617355,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24566476327522466,
+              -0.12767659730040742,
+              1.0477873106117608
+            ],
+            "finger_b": [
+              0.2346433530741069,
+              -0.10373742454544727,
+              1.0477873106117608
+            ],
+            "finger_midpoint": [
+              0.24015405817466579,
+              -0.11570701092292734,
+              1.0477873106117608
+            ],
+            "object_minus_finger_midpoint": [
+              0.005510705100558871,
+              0.01196958637748008,
+              0.0
+            ],
+            "finger_gap": 0.026354420407459722,
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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": 1.093773489059442,
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+            "object_projection_between_fingers": 0.8251090270089562,
+            "object_to_finger_line_xy": 0.010011354403876639,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04913034195377455,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.668727708518982,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24063835764721447,
+              -0.10510724308264308,
+              1.2464959695980733
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+            "held_position": [
+              0.24525271297604181,
+              -0.10063913344162834,
+              1.243641694679638
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007028738448314517,
+            "max_held_gripper_dist": 0.007031995579262062,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028542749184352623,
+            "max_held_gripper_z_dist": 0.003389111816895163,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08567613545213083,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              -0.12422329376992731,
+              1.243641694679638
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+              -0.10063913344162834,
+              1.243641694679638
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+              0.24062542437288775,
+              -0.11243121360577782,
+              1.243641694679638
+            ],
+            "held_grasp_object_position": [
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+              -0.10063913344162834,
+              1.243641694679638
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+            "held_grasp_finger_gap": 0.025334952489760657,
+            "held_grasp_max_gap": 0.12496611982584,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.022954847343137456,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.046178524049606276,
+              -0.9914370379839744,
+              -0.1221480398130206
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004329089451468107,
+            "held_grasp_line_xy_max_dist": 0.04748305991292,
+            "held_grasp_object_top_z": 0.04520081356167793,
+            "held_grasp_top_clearance": 0.033296027174018764,
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+                "beaker_b"
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+                "/World/target_beaker"
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+                "Robotiq2F85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31019695366265565,
+              -0.3273660470081685,
+              0.8470194661355928
+            ],
+            "target_position": [
+              0.3056933111083213,
+              -0.3292130208422105,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004867659458183858,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18550695270108286,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194661355928,
+            "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": 0.0757644293872918,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08704289028028599,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15351456464305377,
+            "release_required_pad_clearance": 0.053521445140142995,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0543452512448632,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007741212844848633,
+            "max_z_decrease": 0.007741212844848633,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518182361854839,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007741212844848633,
+            "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": 0.021060172811688593,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007741212844848633,
+            "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": 0.0077412330441731635,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16139324009418485,
+              -0.3854744732379913,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16139324009418485,
+              -0.3854744732379913,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16131426727589168,
+              -0.3838143055969452,
+              0.808012011757697
+            ],
+            "closest_button": [
+              0.1613820493221283,
+              -0.3854812383651733,
+              0.7728697657585144
+            ],
+            "closest_ee_minus_button": [
+              -6.77820462366141e-05,
+              0.001666932768228102,
+              0.035142245999182586
+            ],
+            "button_min_z_position": [
+              0.16137570142745972,
+              -0.38547673821449274,
+              0.769067645072937
+            ],
+            "min_active_finger_to_button": 0.14544505192122364,
+            "closest_active_finger": [
+              0.0348002165555954,
+              -0.4484395980834961,
+              0.8108219504356384
+            ],
+            "closest_active_finger_button": [
+              0.16139641404151917,
+              -0.38547459244728083,
+              0.7767180800437927
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12659619748592377,
+              -0.06296500563621527,
+              0.0341038703918457
+            ],
+            "min_contact_pad_to_button": 0.021060172811688593,
+            "closest_contact_pad": [
+              0.16137570142745972,
+              -0.38547673821449274,
+              0.7901278178846256
+            ],
+            "closest_contact_pad_button": [
+              0.16137570142745972,
+              -0.38547673821449274,
+              0.769067645072937
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021060172811688593
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5d82d44a43473eba229f2687059e88ef5dce6df6ac5a6b45d4eb31371d2c8055",
+    "visual_seed": 9078005537580495814,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..416df3f724b84bb17338e37d84e99ebd67a2e192
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_55_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24222659775455355,
+              -0.10165274411391345,
+              1.0475972889196117
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+            "current_z": 1.0475972889196117,
+            "required_z": 0.8565865529182849,
+            "initial_z": 0.7565865529182849,
+            "lift_margin": 0.1910107360013268,
+            "gripper_z": 1.0512254337482,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23802322808667398,
+              -0.10596140835304932,
+              1.0512254337482
+            ],
+            "object_minus_gripper": [
+              0.0042033696678795696,
+              0.004308664239135868,
+              -0.00362814482858842
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+            "object_to_gripper_xy": 0.0060193773839541135,
+            "object_to_gripper_z": -0.00362814482858842,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24222659775455355,
+              -0.12557779181621742,
+              1.0475972889196117
+            ],
+            "finger_b": [
+              0.23140688697231318,
+              -0.10165274411391345,
+              1.0475972889196117
+            ],
+            "finger_midpoint": [
+              0.23681674236343336,
+              -0.11361526796506544,
+              1.0475972889196117
+            ],
+            "object_minus_finger_midpoint": [
+              0.005409855391120183,
+              0.011962523851151985,
+              0.0
+            ],
+            "finger_gap": 0.026257837857844444,
+            "fingertip_max_gap": 0.09496425886309492,
+            "finger_z_skew": 0.0,
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+            "closest_contact_pad": [
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+              -0.3821671903133391,
+              0.7903692572869278
+            ],
+            "closest_contact_pad_button": [
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+              -0.3821671903133391,
+              0.7692553997039795
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02111385758294826
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bedcfa8b8c063efd60e1114a86e81d435e04a486119ea5322f8e06913cb39b93",
+    "visual_seed": 8227700376404223352,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0edbdcab98f1a61e96503145701b6254ac8400a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_56_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              -0.1029194408591167,
+              1.046471008856548
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+              0.23570514939505746,
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+              1.0501990770707645
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+              0.004433713545474699,
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+              -0.12696965609099178,
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+              -0.11494454847505424,
+              1.046471008856548
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_shake_count": 5,
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+            "held_object_xy_range": 0.08537369763801136,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31401671690666144,
+              -0.3262177909224955,
+              0.8470196281389425
+            ],
+            "target_position": [
+              0.30970383881939745,
+              -0.32828158564812465,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0047812306015435745,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18283971292601725,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196281389425,
+            "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": 0.07578608560858323,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08699211149656737,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15079873543918632,
+            "release_required_pad_clearance": 0.053496055748283686,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.003811572987025,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007594108581542969,
+            "max_z_decrease": 0.007594108581542969,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517798309034975,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007594108581542969,
+            "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": 0.02107134105618025,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007594108581542969,
+            "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": 0.007594133230089965,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16540376842021942,
+              -0.38454303145408636,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16540376842021942,
+              -0.38454303145408636,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16666263316439744,
+              -0.38353411655404035,
+              0.8082422192061749
+            ],
+            "closest_button": [
+              0.16539502143859863,
+              -0.38455149531364446,
+              0.773101806640625
+            ],
+            "closest_ee_minus_button": [
+              0.0012676117257988118,
+              0.001017378759604115,
+              0.035140412565549894
+            ],
+            "button_min_z_position": [
+              0.16538454592227936,
+              -0.384545236825943,
+              0.7692147493362427
+            ],
+            "min_active_finger_to_button": 0.14459041648747611,
+            "closest_active_finger": [
+              0.040304094552993774,
+              -0.44850021600723267,
+              0.8105663657188416
+            ],
+            "closest_active_finger_button": [
+              0.1654047816991806,
+              -0.38454627990722656,
+              0.776418149471283
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12510068714618683,
+              -0.0639539361000061,
+              0.034148216247558594
+            ],
+            "min_contact_pad_to_button": 0.02107134105618025,
+            "closest_contact_pad": [
+              0.16538454592227936,
+              -0.384545236825943,
+              0.7902860903924229
+            ],
+            "closest_contact_pad_button": [
+              0.16538454592227936,
+              -0.384545236825943,
+              0.7692147493362427
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107134105618025
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "740a83d1029e73cdf83941c5b77504b6dcf9f5c45dbc0d9254cf7bbf148caa3f",
+    "visual_seed": 4743150235236482016,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b831d1fcfd1ed7d0bc3a8ab1ca769a3820c50dca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_57_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24534149260640278,
+              -0.09827972704668873,
+              1.0446796180128486
+            ],
+            "current_z": 1.0446796180128486,
+            "required_z": 0.8565865401810239,
+            "initial_z": 0.7565865401810239,
+            "lift_margin": 0.18809307783182472,
+            "gripper_z": 1.0482582065401416,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2408239306688042,
+              -0.10276648924692836,
+              1.0482582065401416
+            ],
+            "object_minus_gripper": [
+              0.004517561937598585,
+              0.004486762200239622,
+              -0.0035785885272929807
+            ],
+            "object_to_gripper_xy": 0.006367055905325363,
+            "object_to_gripper_z": -0.0035785885272929807,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24534149260640278,
+              -0.1223669348688878,
+              1.0446796180128486
+            ],
+            "finger_b": [
+              0.23426729058143433,
+              -0.09827972704668873,
+              1.0446796180128486
+            ],
+            "finger_midpoint": [
+              0.23980439159391856,
+              -0.11032333095778826,
+              1.0446796180128486
+            ],
+            "object_minus_finger_midpoint": [
+              0.005537101012484225,
+              0.012043603911099529,
+              0.0
+            ],
+            "finger_gap": 0.02651097001544122,
+            "fingertip_max_gap": 0.09355964538354974,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013255485007720605,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0446796180128486,
+            "object_top_z": 1.090971545397328,
+            "finger_top_clearance": 0.046291927384479514,
+            "fingertip_min_top_clearance": 0.01388757821534387,
+            "object_projection_between_fingers": 0.8255087527341421,
+            "object_to_finger_line_xy": 0.010061744458428609,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049279822691774874,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5560623710643902,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
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+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96bcaac6955ac54b2c830f56c8d6870b8b2b2e0895d2ea18b77fc3f6bdf268ff",
+    "visual_seed": 2531065451734444078,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      1272775230356696008,
+      6598834107714139108,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..168a1e77d943a0eedd4515b5f10555b4ea220c56
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_58_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              1.046534606383058
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+          "failure_messages": {},
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+              ],
+              "allowed_object_paths": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+                {
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              -0.09281145031914206,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
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+          "safety": {
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+              "held_object": "beaker_b",
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+                "beaker_b"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "force_virtual_attach": false,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+              "ignored_prim_substrings": [
+                "base_link",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007550477981567383,
+            "max_z_decrease": 0.007550477981567383,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035127534047017586,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007550477981567383,
+            "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": 0.021204809024560546,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007550477981567383,
+            "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": 0.007550498648083732,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16680066287517548,
+              -0.3821726143360138,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16680066287517548,
+              -0.3821726143360138,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1683518564020017,
+              -0.3821736195309591,
+              0.8045557447895464
+            ],
+            "closest_button": [
+              0.16678214073181152,
+              -0.38217663764953613,
+              0.769463300704956
+            ],
+            "closest_ee_minus_button": [
+              0.0015697156701901804,
+              3.0181185770583596e-06,
+              0.035092444084590335
+            ],
+            "button_min_z_position": [
+              0.16678349673748014,
+              -0.382176786661148,
+              0.7692583799362183
+            ],
+            "min_active_finger_to_button": 0.14434483986257612,
+            "closest_active_finger": [
+              0.027816705405712128,
+              -0.36420392990112305,
+              0.8086651563644409
+            ],
+            "closest_active_finger_button": [
+              0.16680763661861417,
+              -0.38217931985855097,
+              0.7741131782531738
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13899093121290204,
+              0.017975389957427923,
+              0.03455197811126709
+            ],
+            "min_contact_pad_to_button": 0.021204809024560546,
+            "closest_contact_pad": [
+              0.16678349673748014,
+              -0.38352505693627803,
+              0.7904202818600361
+            ],
+            "closest_contact_pad_button": [
+              0.16678349673748014,
+              -0.382176786661148,
+              0.7692583799362183
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013482702751300146,
+              0.02116190192381784
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ca13df41603f43f5c879aab1f2c100524e2cc1ff0ec792c5a34a4e083b31038c",
+    "visual_seed": 4652535379322364401,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2567446b73bd0c48ad1e6be09814d2495e58728
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_59_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.242558272718119,
+              -0.10385212307927079,
+              1.046095571346578
+            ],
+            "current_z": 1.046095571346578,
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+            "lift_margin": 0.1895089566806386,
+            "gripper_z": 1.049760206235943,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23810749360648056,
+              -0.10828328749282835,
+              1.049760206235943
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+              0.0044507791116384365,
+              0.0044311644135575645,
+              -0.0036646348893649705
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+            "object_to_gripper_xy": 0.006280497811525451,
+            "object_to_gripper_z": -0.0036646348893649705,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.242558272718119,
+              -0.1279604731227579,
+              1.046095571346578
+            ],
+            "finger_b": [
+              0.23157112712960948,
+              -0.10385212307927079,
+              1.046095571346578
+            ],
+            "finger_midpoint": [
+              0.23706469992386425,
+              -0.11590629810101435,
+              1.046095571346578
+            ],
+            "object_minus_finger_midpoint": [
+              0.005493572794254747,
+              0.012054175021743566,
+              0.0
+            ],
+            "finger_gap": 0.026493959877723253,
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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": 0.009997824147429989,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04909265164845447,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4819595622363433,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2390789539899972,
+              -0.10403906954811495,
+              1.2427376873201912
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+            "held_position": [
+              0.2437953823137635,
+              -0.09946895110747396,
+              1.239615445821603
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007271799685787371,
+            "max_held_gripper_dist": 0.007274807846295423,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031222414985880853,
+            "max_held_gripper_z_dist": 0.0036797555951249006,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08577286434645787,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2437953823137635,
+              -0.12308423592470112,
+              1.239615445821603
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+              -0.09946895110747396,
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+              -0.11127659351608754,
+              1.239615445821603
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+            "held_grasp_object_position": [
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+              -0.09946895110747396,
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+            "held_grasp_finger_gap": 0.025387671839583598,
+            "held_grasp_max_gap": 0.1249661049246788,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02299995824802059,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.991227927429021,
+              -0.12469542190376234
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00439652331285678,
+            "held_grasp_line_xy_max_dist": 0.0474830524623394,
+            "held_grasp_object_top_z": 0.04520080238580704,
+            "held_grasp_top_clearance": 0.03329265168479122,
+            "held_grasp_min_top_clearance": 0.01356024071574211
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
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+                "Robotiq2F85",
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+                "contact_sensor",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "joint3",
+                "joint4",
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+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
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+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3131518178462743,
+              -0.3278568620940443,
+              0.8470192468562612
+            ],
+            "target_position": [
+              0.30884252728616673,
+              -0.32977008083345744,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004714911566113833,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18254178096244403,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192468562612,
+            "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": 0.07528850641195098,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08570783833184613,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7506883943901607,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007676303386688232,
+            "max_z_decrease": 0.007676303386688232,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516594866333991,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007676303386688232,
+            "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": 0.021119117760075752,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007676303386688232,
+            "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": 0.007676327486909883,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16454245150089264,
+              -0.38603153824806213,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16454245150089264,
+              -0.38603153824806213,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.166222576474228,
+              -0.3855594454429349,
+              0.808125956573325
+            ],
+            "closest_button": [
+              0.16454017162322998,
+              -0.3860411047935486,
+              0.7730035781860352
+            ],
+            "closest_ee_minus_button": [
+              0.0016824048509980205,
+              0.0004816593506136724,
+              0.03512237838728982
+            ],
+            "button_min_z_position": [
+              0.16452346742153168,
+              -0.3860346376895904,
+              0.7691325545310974
+            ],
+            "min_active_finger_to_button": 0.14450363586691994,
+            "closest_active_finger": [
+              0.03868807852268219,
+              -0.4482184648513794,
+              0.8105916380882263
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+            "closest_active_finger_button": [
+              0.16454468667507172,
+              -0.3860345780849456,
+              0.7763195037841797
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12585660815238953,
+              -0.06218388676643377,
+              0.03427213430404663
+            ],
+            "min_contact_pad_to_button": 0.021119117760075752,
+            "closest_contact_pad": [
+              0.16452346742153168,
+              -0.3868125500658017,
+              0.7902373404172154
+            ],
+            "closest_contact_pad_button": [
+              0.16452346742153168,
+              -0.3860346376895904,
+              0.7691325545310974
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007779123762112761,
+              0.02110478588611797
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "caba353cd296f39f62a1914b87ff53f1b0e8af17cc7ca7d6979abe39c2bbcbc7",
+    "visual_seed": 3794578703228351234,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..684fd37544fee0bc1a9a26318ae5b631a29b7f1a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_5_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              -0.10354068163084147,
+              1.0469027911109798
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+            "lift_margin": 0.19031611114914837,
+            "gripper_z": 1.0503992192480152,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.2406656148249093,
+              -0.10797719456318337,
+              1.0503992192480152
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+              0.004423710397649994,
+              0.004436512932341902,
+              -0.0034964281370353234
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+            "object_to_gripper_xy": 0.006265130539830244,
+            "object_to_gripper_z": -0.0034964281370353234,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2450893252225593,
+              -0.12758378908015774,
+              1.0469027911109798
+            ],
+            "finger_b": [
+              0.2340613206711106,
+              -0.10354068163084147,
+              1.0469027911109798
+            ],
+            "finger_midpoint": [
+              0.23957532294683495,
+              -0.11556223535549962,
+              1.0469027911109798
+            ],
+            "object_minus_finger_midpoint": [
+              0.00551400227572435,
+              0.012021553724658143,
+              0.0
+            ],
+            "finger_gap": 0.02645161432136309,
+            "fingertip_max_gap": 0.09345196691676474,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01322580716068155,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0469027911109798,
+            "object_top_z": 1.0930601589773656,
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+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005632034473197489,
+              0.021087929480774537
+            ]
+          },
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e78a55db13bb363cc79f72126f15d9c4029b45997f03842438ab1b6e1a5349ea",
+    "visual_seed": 5008307610081214107,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0e060114c7ddf91aec9198b8cae35e2019574da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_60_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              -0.10309411638030949,
+              1.0477386772647836
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+            "gripper_position": [
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+              -0.11515784559802857,
+              1.0477386772647836
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+              0.0,
+              1.0
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+            "stable_success_frames": 204,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "max_held_gripper_z_dist": 0.003932216032640934,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_min_top_clearance": 0.01356024295091629
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
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+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "heater_platform",
+            "object_position": [
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004819101719054705,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18313099020316126,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195843744127,
+            "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": 0.07549523867714424,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08640231341758352,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15174339984010313,
+            "release_required_pad_clearance": 0.05320115670879176,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4248871294094911,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007787942886352539,
+            "max_z_decrease": 0.007787942886352539,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035141216534178454,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007787942886352539,
+            "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": 0.021126913559246736,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007787942886352539,
+            "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": 0.007787966794277269,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1590693444013595,
+              -0.3808507919311523,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1590693444013595,
+              -0.3808507919311523,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15926170722095304,
+              -0.3813285097315452,
+              0.8077998813973247
+            ],
+            "closest_button": [
+              0.15905781090259546,
+              -0.38085839152336115,
+              0.7726624011993408
+            ],
+            "closest_ee_minus_button": [
+              0.0002038963183575715,
+              -0.00047011820818404493,
+              0.035137480197983906
+            ],
+            "button_min_z_position": [
+              0.15905010700225825,
+              -0.3808523118495941,
+              0.7690209150314331
+            ],
+            "min_active_finger_to_button": 0.14589431593970548,
+            "closest_active_finger": [
+              0.017987117171287537,
+              -0.36627501249313354,
+              0.8106203675270081
+            ],
+            "closest_active_finger_button": [
+              0.1590695977210998,
+              -0.3808529376983642,
+              0.7764389514923096
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14108248054981226,
+              0.014577925205230657,
+              0.034181416034698486
+            ],
+            "min_contact_pad_to_button": 0.021126913559246736,
+            "closest_contact_pad": [
+              0.15905010700225825,
+              -0.3824639206430971,
+              0.7900862703248192
+            ],
+            "closest_contact_pad_button": [
+              0.15905010700225825,
+              -0.3808523118495941,
+              0.7690209150314331
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016116087935029721,
+              0.021065355293386046
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8051efe8b39a514d4c8fb8d96693114f1bf2c26fdcb2aea779dc1aca598f418f",
+    "visual_seed": 8409300613203480161,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f31c5ce133e569cace6071c428da66d595d8c841
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_61_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.246464962336834,
+              -0.10237804062458118,
+              1.0461107562928567
+            ],
+            "current_z": 1.0461107562928567,
+            "required_z": 0.8565867390738491,
+            "initial_z": 0.7565867390738491,
+            "lift_margin": 0.18952401721900758,
+            "gripper_z": 1.0496330494011228,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24205939706323984,
+              -0.1068709983240577,
+              1.0496330494011228
+            ],
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+              0.0044055652735941475,
+              0.004492957699476524,
+              -0.003522293108266128
+            ],
+            "object_to_gripper_xy": 0.006292509377758928,
+            "object_to_gripper_z": -0.003522293108266128,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.246464962336834,
+              -0.12631105071657256,
+              1.0461107562928567
+            ],
+            "finger_b": [
+              0.23520954462146648,
+              -0.10237804062458118,
+              1.0461107562928567
+            ],
+            "finger_midpoint": [
+              0.24083725347915025,
+              -0.11434454567057686,
+              1.0461107562928567
+            ],
+            "object_minus_finger_midpoint": [
+              0.005627708857683739,
+              0.011966505045995682,
+              0.0
+            ],
+            "finger_gap": 0.02644755943392074,
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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": 1.0461107562928567,
+            "object_top_z": 1.09152224249148,
+            "finger_top_clearance": 0.04541148619862345,
+            "fingertip_min_top_clearance": 0.013623445859587068,
+            "object_projection_between_fingers": 0.818885996314573,
+            "object_to_finger_line_xy": 0.010185288606478245,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04831572750140982,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.507609927725604,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "33a71ca16404b6a53c5839095ae247ae0c37bd290a7dc04c7e54cb2523745e1a",
+    "visual_seed": 8906801756842771061,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f72a12a8f49129d9fa8a1f467845c26bafc80ca0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_62_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              1.0459627088149483
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+              1.0459627088149483
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+              1.0459627088149483
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+            "stable_success_frames": 204,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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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": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+          }
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              -0.10106893858293238,
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+              -0.09646759969957032,
+              1.2395256683781155
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15518796631760792,
+            "release_required_pad_clearance": 0.0531742751635612,
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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_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "wheel",
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+              "enabled": true
+            },
+            "status": "active",
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007845699787139893,
+            "max_z_decrease": 0.007845699787139893,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035157221498657014,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007845699787139893,
+            "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": 0.02128721843522906,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007845699787139893,
+            "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": 0.007845722784700998,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1658783853054047,
+              -0.38361871242523193,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1658783853054047,
+              -0.38361871242523193,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16512420447232684,
+              -0.3854058483280455,
+              0.807815654422516
+            ],
+            "closest_button": [
+              0.1658728122711182,
+              -0.3836291432380676,
+              0.7727113366127014
+            ],
+            "closest_ee_minus_button": [
+              -0.0007486077987913509,
+              -0.001776705089977848,
+              0.0351043178098146
+            ],
+            "button_min_z_position": [
+              0.16585953533649447,
+              -0.38362106680870056,
+              0.7689631581306458
+            ],
+            "min_active_finger_to_button": 0.14672611887437284,
+            "closest_active_finger": [
+              0.024004682898521423,
+              -0.3687056005001068,
+              0.8108770251274109
+            ],
+            "closest_active_finger_button": [
+              0.16587866842746737,
+              -0.3836221992969513,
+              0.7765576243400574
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14187398552894595,
+              0.014916598796844482,
+              0.034319400787353516
+            ],
+            "min_contact_pad_to_button": 0.02128721843522906,
+            "closest_contact_pad": [
+              0.16585953533649447,
+              -0.38671750817896294,
+              0.7900239681708527
+            ],
+            "closest_contact_pad_button": [
+              0.16585953533649447,
+              -0.38362106680870056,
+              0.7689631581306458
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030964413702623816,
+              0.02106081004020699
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2412f4ed74e36d853bcd0098073bce05a9e8cbd29a617b4588ac3308e3d35d18",
+    "visual_seed": 266731728431878869,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b72399a95db6e5cf518c9978e28c88c847fca589
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_63_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23988564427867928,
+              -0.10223717572378525,
+              1.0466677282016146
+            ],
+            "current_z": 1.0466677282016146,
+            "required_z": 0.8565865658031825,
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+            "lift_margin": 0.1900811623984321,
+            "gripper_z": 1.050364408238348,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23541914565637823,
+              -0.10669266397712768,
+              1.050364408238348
+            ],
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+              0.004466498622301057,
+              0.004455488253342424,
+              -0.003696680036733513
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+            "object_to_gripper_xy": 0.006308802225358595,
+            "object_to_gripper_z": -0.003696680036733513,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23988564427867928,
+              -0.1263436746627339,
+              1.0466677282016146
+            ],
+            "finger_b": [
+              0.22879463649293585,
+              -0.10223717572378525,
+              1.0466677282016146
+            ],
+            "finger_midpoint": [
+              0.23434014038580758,
+              -0.11429042519325958,
+              1.0466677282016146
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055455038928717,
+              0.012053249469474323,
+              0.0
+            ],
+            "finger_gap": 0.026535518551499125,
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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": 0.049051275217555604,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.10175223765890287,
+              1.24416096605136
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+            "held_position": [
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+              -0.09715694216169152,
+              1.2410275190550448
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007312328844529661,
+            "max_held_gripper_dist": 0.007315358692373974,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031334469963151257,
+            "max_held_gripper_z_dist": 0.0036988431051478976,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08527021687611078,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              -0.12077550921931654,
+              1.2410275190550448
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+              -0.09715694216169152,
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+              -0.10896622569050403,
+              1.2410275190550448
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+            "held_grasp_object_position": [
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+              -0.09715694216169152,
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+            "held_grasp_finger_gap": 0.02541837499274907,
+            "held_grasp_max_gap": 0.1249658739566803,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02298082949659585,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04509108370233257,
+              -0.9909338995237574,
+              -0.12655750054891748
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004424870480817622,
+            "held_grasp_line_xy_max_dist": 0.04748293697834015,
+            "held_grasp_object_top_z": 0.04520066827535629,
+            "held_grasp_top_clearance": 0.033286644268078494,
+            "held_grasp_min_top_clearance": 0.013560200482606888
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3079173238072668,
+              -0.32155173968568107,
+              0.8470197127768009
+            ],
+            "target_position": [
+              0.3035839122540714,
+              -0.3234843468171268,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004744831505320512,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18628955569402472,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197127768009,
+            "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": 0.07534407600503441,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857805461905987,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15523575020709088,
+            "release_required_pad_clearance": 0.05289027309529935,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8194773278662244,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007676303386688232,
+            "max_z_decrease": 0.007676303386688232,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516813753297396,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007676303386688232,
+            "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": 0.02107684883946792,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007676303386688232,
+            "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": 0.007676324036108275,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1592838317155838,
+              -0.37974581122398376,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1592838317155838,
+              -0.37974581122398376,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1598971951119543,
+              -0.37848249070121187,
+              0.8078654332457893
+            ],
+            "closest_button": [
+              0.15927356481552124,
+              -0.37975394725799555,
+              0.7727258205413818
+            ],
+            "closest_ee_minus_button": [
+              0.0006236302964330587,
+              0.0012714565567836789,
+              0.035139612704407464
+            ],
+            "button_min_z_position": [
+              0.15926624834537506,
+              -0.3797486126422882,
+              0.7691325545310974
+            ],
+            "min_active_finger_to_button": 0.14502778582279469,
+            "closest_active_finger": [
+              0.032878682017326355,
+              -0.44211822748184204,
+              0.8106420636177063
+            ],
+            "closest_active_finger_button": [
+              0.15928468108177185,
+              -0.3797484338283539,
+              0.7765159606933594
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1264059990644455,
+              -0.06236979365348816,
+              0.034126102924346924
+            ],
+            "min_contact_pad_to_button": 0.02107684883946792,
+            "closest_contact_pad": [
+              0.15926624834537506,
+              -0.3797486126422882,
+              0.7902094033705653
+            ],
+            "closest_contact_pad_button": [
+              0.15926624834537506,
+              -0.3797486126422882,
+              0.7691325545310974
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107684883946792
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "48e33aa0e2a2fa42e8ebb699744904801e505f7ea9a8c7fc3623ed8228028cfd",
+    "visual_seed": 8346241265482755305,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f53bd3d313381f349983e3cbc8b6b37fcd06e098
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_64_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              -0.10430858433786792,
+              1.044477821610566
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+            "initial_z": 0.7565865749393103,
+            "lift_margin": 0.18789124667125567,
+            "gripper_z": 1.048175055217866,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.2368864271719108,
+              -0.10876642899515349,
+              1.048175055217866
+            ],
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+              0.0043324628477899585,
+              0.004457844657285562,
+              -0.00369723360730001
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+            "object_to_gripper_xy": 0.006216318308771657,
+            "object_to_gripper_z": -0.00369723360730001,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24121889001970076,
+              -0.12821347484231896,
+              1.044477821610566
+            ],
+            "finger_b": [
+              0.22996578515117203,
+              -0.10430858433786792,
+              1.044477821610566
+            ],
+            "finger_midpoint": [
+              0.2355923375854364,
+              -0.11626102959009343,
+              1.044477821610566
+            ],
+            "object_minus_finger_midpoint": [
+              0.005626552434264354,
+              0.01195244525222551,
+              0.0
+            ],
+            "finger_gap": 0.026421130922273148,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013210565461136562,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.044477821610566,
+            "object_top_z": 1.0898457712651735,
+            "finger_top_clearance": 0.04536794965460755,
+            "fingertip_min_top_clearance": 0.013610384896382282,
+            "object_projection_between_fingers": 0.8185980605252752,
+            "object_to_finger_line_xy": 0.010181405198310874,
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0bd9cf4cc36838fdd86ff95652c90952647201b25b3147a13734eb4a2d5bd66b",
+    "visual_seed": 36059454872439890,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0d0cb38a58bd634d814be6b41770f1cd7b7e135
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_65_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              -0.10185471738144522,
+              1.0482349795161823
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+              1.0482349795161823
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+              -0.11373485630613377,
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+              0.0,
+              1.0
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+            "stable_success_frames": 204,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "max_held_gripper_z_dist": 0.0035212380789171327,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "object_z": 0.8470197960875373,
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531925172410545,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08524706831006644,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15395389024360973,
+            "release_required_pad_clearance": 0.05262353415503322,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3064643574564696,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007705330848693848,
+            "max_z_decrease": 0.007705330848693848,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520867237380685,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007705330848693848,
+            "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": 0.02106149723142159,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007705330848693848,
+            "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": 0.007705352053662319,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1640367060899734,
+              -0.38457033038139343,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1640367060899734,
+              -0.38457033038139343,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16315772469908565,
+              -0.3825416704153947,
+              0.8080481381575996
+            ],
+            "closest_button": [
+              0.1640263646841049,
+              -0.3845774531364441,
+              0.7729091048240662
+            ],
+            "closest_ee_minus_button": [
+              -0.0008686399850192372,
+              0.002035782721049373,
+              0.03513903333353341
+            ],
+            "button_min_z_position": [
+              0.16401879489421844,
+              -0.3845727741718292,
+              0.7691035270690918
+            ],
+            "min_active_finger_to_button": 0.14598825395270137,
+            "closest_active_finger": [
+              0.03667985647916794,
+              -0.4472448229789734,
+              0.8108924627304077
+            ],
+            "closest_active_finger_button": [
+              0.16404037177562708,
+              -0.3845703303813934,
+              0.7767782807350159
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12736051529645914,
+              -0.06267449259758001,
+              0.034114181995391846
+            ],
+            "min_contact_pad_to_button": 0.02106149723142159,
+            "closest_contact_pad": [
+              0.16401879489421844,
+              -0.3845727741718292,
+              0.7901650243005134
+            ],
+            "closest_contact_pad_button": [
+              0.16401879489421844,
+              -0.3845727741718292,
+              0.7691035270690918
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02106149723142159
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1664e90f6f5dc95c38b0713a6f163859f38185aca493992223016d922a26f4aa",
+    "visual_seed": 7085342041933058567,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..86beba609a780f0e72c9bad11381a943b5ce94c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_66_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23774744007694765,
+              -0.09806642348155263,
+              1.0472858413175479
+            ],
+            "current_z": 1.0472858413175479,
+            "required_z": 0.8565865213879587,
+            "initial_z": 0.7565865213879587,
+            "lift_margin": 0.19069931992958922,
+            "gripper_z": 1.0509321201130588,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23353090865446569,
+              -0.10237024188729364,
+              1.0509321201130588
+            ],
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+              0.004216531422481962,
+              0.004303818405741011,
+              -0.0036462787955109377
+            ],
+            "object_to_gripper_xy": 0.006025113285770887,
+            "object_to_gripper_z": -0.0036462787955109377,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23774744007694765,
+              -0.1220401865532088,
+              1.0472858413175479
+            ],
+            "finger_b": [
+              0.22695675052025632,
+              -0.09806642348155263,
+              1.0472858413175479
+            ],
+            "finger_midpoint": [
+              0.23235209529860198,
+              -0.11005330501738071,
+              1.0472858413175479
+            ],
+            "object_minus_finger_midpoint": [
+              0.005395344778345662,
+              0.011986881535828081,
+              0.0
+            ],
+            "finger_gap": 0.02629030804164896,
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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": 1.093657644352131,
+            "finger_top_clearance": 0.046371803034583214,
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+            "object_projection_between_fingers": 0.8315360237741889,
+            "object_to_finger_line_xy": 0.009839878422196165,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04938295159897105,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5848941393510312,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
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+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..514bdf6c2e67286d1a11b1223adf425374ab4839
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_67_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+          "failure_messages": {},
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+                "Robotiq2F85",
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+                "elbow_joint",
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+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
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+                "fr3_joint3",
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+          "failure_code": null,
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+              "robot_prim_substrings": [
+                "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"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
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+                "workbench"
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "failure_code": null,
+          "failure_messages": {},
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+                "heater_platform"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint3",
+                "panda_joint4",
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+                "panda_leftfinger",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "base_link",
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+                "ground",
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007448434829711914,
+            "max_z_decrease": 0.007448434829711914,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515163038115345,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007448434829711914,
+            "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": 0.02114379337485332,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007448434829711914,
+            "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": 0.007448455926339888,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16489817202091211,
+              -0.37646743655204773,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16489817202091211,
+              -0.37646743655204773,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16427418453676182,
+              -0.3773870357128355,
+              0.8082096568493133
+            ],
+            "closest_button": [
+              0.16488967835903162,
+              -0.37647607922554016,
+              0.7730752229690552
+            ],
+            "closest_ee_minus_button": [
+              -0.0006154938222698025,
+              -0.0009109564872953335,
+              0.035134433880258165
+            ],
+            "button_min_z_position": [
+              0.1648805439472198,
+              -0.37646931409835815,
+              0.7693604230880737
+            ],
+            "min_active_finger_to_button": 0.14667075836592755,
+            "closest_active_finger": [
+              0.02288050204515457,
+              -0.36331605911254883,
+              0.8105598092079163
+            ],
+            "closest_active_finger_button": [
+              0.1648991107940673,
+              -0.3764704763889313,
+              0.7763547301292419
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14201860874891273,
+              0.013154417276382446,
+              0.034205079078674316
+            ],
+            "min_contact_pad_to_button": 0.02114379337485332,
+            "closest_contact_pad": [
+              0.1648805439472198,
+              -0.37843341317938095,
+              0.7904127938115437
+            ],
+            "closest_contact_pad_button": [
+              0.1648805439472198,
+              -0.37646931409835815,
+              0.7693604230880737
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019640990810227965,
+              0.021052370723469993
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "33f122621c720102ac0561e928c59dc48e06a38d66d35149cd313c8aeeddaf52",
+    "visual_seed": 5269166951125058836,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e77ca4fa81d1a8315e16ec8ce0412050401fa91f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_68_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24206545526512666,
+              -0.10391253228605367,
+              1.0445606193869497
+            ],
+            "current_z": 1.0445606193869497,
+            "required_z": 0.8565866536619309,
+            "initial_z": 0.7565866536619309,
+            "lift_margin": 0.1879739657250188,
+            "gripper_z": 1.0482471313640975,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2376261552094841,
+              -0.10833156380915375,
+              1.0482471313640975
+            ],
+            "object_minus_gripper": [
+              0.004439300055642553,
+              0.004419031523100081,
+              -0.003686511977147866
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+            "object_to_gripper_xy": 0.00626380272567553,
+            "object_to_gripper_z": -0.003686511977147866,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24206545526512666,
+              -0.128027767132493,
+              1.0445606193869497
+            ],
+            "finger_b": [
+              0.23111396860011899,
+              -0.10391253228605367,
+              1.0445606193869497
+            ],
+            "finger_midpoint": [
+              0.23658971193262282,
+              -0.11597014970927333,
+              1.0445606193869497
+            ],
+            "object_minus_finger_midpoint": [
+              0.005475743332503835,
+              0.01205761742321966,
+              0.0
+            ],
+            "finger_gap": 0.02648546038627161,
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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": 0.829025593696663,
+            "object_to_finger_line_xy": 0.00997142088499244,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04920185118422442,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5476418033271537,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 201,
+            "max_stable_success_frames": 201,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23876676744776587,
+              -0.10366142681399558,
+              1.2422875306405476
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+            "held_position": [
+              0.243462357794663,
+              -0.09909613532083755,
+              1.2391313131526622
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0072699493776922685,
+            "max_held_gripper_dist": 0.007272945277553018,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031562174878854155,
+            "max_held_gripper_z_dist": 0.003701551641548395,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08514707795556649,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              -0.12272400450140127,
+              1.2391313131526622
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+            "held_grasp_finger_b": [
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+              -0.09909613532083755,
+              1.2391313131526622
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+            "held_grasp_midpoint": [
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+              -0.1109100699111194,
+              1.2391313131526622
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+            "held_grasp_object_position": [
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+              -0.09909613532083755,
+              1.2391313131526622
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+            "held_grasp_finger_gap": 0.025414634086141415,
+            "held_grasp_max_gap": 0.12496572494506836,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02306212043028975,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03992487129087425,
+              -0.9918734126162613,
+              -0.12080206122984438
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004444295435869747,
+            "held_grasp_line_xy_max_dist": 0.04748286247253418,
+            "held_grasp_object_top_z": 0.045200642198324203,
+            "held_grasp_top_clearance": 0.03329584717649276,
+            "held_grasp_min_top_clearance": 0.013560192659497261
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3131928842754692,
+              -0.3244956150224684,
+              0.8470195544313788
+            ],
+            "target_position": [
+              0.3086035625471378,
+              -0.3266627501571595,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005075268329669649,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18481007966091806,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195544313788,
+            "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": 0.07537378259378022,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08622989419209802,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15379395984585642,
+            "release_required_pad_clearance": 0.05311494709604901,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2561459334010345,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007809937000274658,
+            "max_z_decrease": 0.007809937000274658,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511852103362304,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007809937000274658,
+            "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": 0.02119479030679525,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007809937000274658,
+            "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": 0.007809957677528959,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16430348157882688,
+              -0.3829241991043091,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16430348157882688,
+              -0.3829241991043091,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16515069588452513,
+              -0.3833021590365363,
+              0.8075421502973362
+            ],
+            "closest_button": [
+              0.16429325938224792,
+              -0.38292890787124634,
+              0.7724360823631287
+            ],
+            "closest_ee_minus_button": [
+              0.000857436502277209,
+              -0.00037325116528996727,
+              0.03510606793420756
+            ],
+            "button_min_z_position": [
+              0.16428591310977936,
+              -0.3829279839992523,
+              0.768998920917511
+            ],
+            "min_active_finger_to_button": 0.14532270840741757,
+            "closest_active_finger": [
+              0.02416183054447174,
+              -0.36575010418891907,
+              0.8097741603851318
+            ],
+            "closest_active_finger_button": [
+              0.16430623829364777,
+              -0.3829292058944702,
+              0.7753777503967285
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14014440774917603,
+              0.017179101705551147,
+              0.03439640998840332
+            ],
+            "min_contact_pad_to_button": 0.02119479030679525,
+            "closest_contact_pad": [
+              0.16428591310977936,
+              -0.3846770598767701,
+              0.7901214176857367
+            ],
+            "closest_contact_pad_button": [
+              0.16428591310977936,
+              -0.3829279839992523,
+              0.768998920917511
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017490758775177695,
+              0.02112249676822575
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1fd04cfc9bf5c696213b8268b6bf8951d47bd789f416456a97fedf178b73ec7b",
+    "visual_seed": 2182293657368680650,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..26dc6659ed7a0a9e726cf473ec821367765439a8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_69_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              -0.10034403884219867,
+              1.0460540856005616
+            ],
+            "current_z": 1.0460540856005616,
+            "required_z": 0.8565865287487145,
+            "initial_z": 0.7565865287487146,
+            "lift_margin": 0.18946755685184702,
+            "gripper_z": 1.0496849873387484,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23886666464618464,
+              -0.10475896711675602,
+              1.0496849873387484
+            ],
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+              0.004313378399089268,
+              0.004414928274557348,
+              -0.003630901738186809
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+            "object_to_gripper_xy": 0.006172262541662969,
+            "object_to_gripper_z": -0.003630901738186809,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2431800430452739,
+              -0.12426579019737116,
+              1.0460540856005616
+            ],
+            "finger_b": [
+              0.23209389512256234,
+              -0.10034403884219867,
+              1.0460540856005616
+            ],
+            "finger_midpoint": [
+              0.23763696908391813,
+              -0.11230491451978492,
+              1.0460540856005616
+            ],
+            "object_minus_finger_midpoint": [
+              0.005543073961355782,
+              0.011960875677586247,
+              0.0
+            ],
+            "finger_gap": 0.026365751718146382,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013182875859073191,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0460540856005616,
+            "object_top_z": 1.0925567901089395,
+            "finger_top_clearance": 0.0465027045083779,
+            "fingertip_min_top_clearance": 0.013950811352513354,
+            "object_projection_between_fingers": 0.8232005042507683,
+            "object_to_finger_line_xy": 0.010058506085045254,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049711545462755635,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9718428264997956,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "46bd6b0a7cbd5dcf5d79c167de37f8d8fef2412c44e08bb411582d626bdfdb8c",
+    "visual_seed": 1924405939628410299,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..208ba24326180e6e0f474f73c483859c21e6535f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              -0.10443065112584056,
+              1.046733687416888
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+            "lift_margin": 0.19014700193878642,
+            "gripper_z": 1.0501798260924031,
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+            "gripper_position": [
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+              1.0501798260924031
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+              0.004372332365561671,
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+              -0.1282095362852322,
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+              -0.11632009370553639,
+              1.046733687416888
+            ],
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+              0.011889442579695833,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.10590875743941947,
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+              -0.1014680936495631,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 0.0029055322610274104,
+            "max_held_gripper_z_dist": 0.0034422904081370387,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08576180574478373,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              -0.11321763775999767,
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+              -0.1014680936495631,
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+            "held_grasp_max_gap": 0.12496615707874298,
+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.02279581641331524,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004207159337278924,
+            "held_grasp_line_xy_max_dist": 0.04748307853937149,
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+            "held_grasp_min_top_clearance": 0.013560259714722633
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "gripper_away_ok": true,
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+            "min_z_margin": 0.2,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514184641726845,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515661297814074,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1543913427088575,
+            "release_required_pad_clearance": 0.05257830648907037,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.21667720013757183,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007621586322784424,
+            "max_z_decrease": 0.007621586322784424,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520106507624943,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007621586322784424,
+            "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": 0.021056194282889185,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007621586322784424,
+            "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": 0.0076216111084855785,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16119422018527982,
+              -0.37711766362190247,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16119422018527982,
+              -0.37711766362190247,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16007389952272658,
+              -0.3753543398343445,
+              0.8079333169178406
+            ],
+            "closest_button": [
+              0.1611841320991516,
+              -0.3771253526210785,
+              0.7727943658828735
+            ],
+            "closest_ee_minus_button": [
+              -0.0011102325764250354,
+              0.001771012786733972,
+              0.035138951034967114
+            ],
+            "button_min_z_position": [
+              0.16117490828037262,
+              -0.37711986899375916,
+              0.7691872715950012
+            ],
+            "min_active_finger_to_button": 0.14631156431223685,
+            "closest_active_finger": [
+              0.033462412655353546,
+              -0.43979042768478394,
+              0.8107010126113892
+            ],
+            "closest_active_finger_button": [
+              0.16119509935379028,
+              -0.3771199882030487,
+              0.7765857577323914
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12773268669843674,
+              -0.06267043948173523,
+              0.0341152548789978
+            ],
+            "min_contact_pad_to_button": 0.021056194282889185,
+            "closest_contact_pad": [
+              0.16117490828037262,
+              -0.37711986899375916,
+              0.7902434658778904
+            ],
+            "closest_contact_pad_button": [
+              0.16117490828037262,
+              -0.37711986899375916,
+              0.7691872715950012
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021056194282889185
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "06a6b7dd247375ec06efb52f77510670b3069d2b754e6f9ce814529148bb211c",
+    "visual_seed": 656947074797334294,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7dd8ed49e4975d5fb02c11f8ab64ff76e603885
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_70_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2410314166874617,
+              -0.09434942315902133,
+              1.0461093444978975
+            ],
+            "current_z": 1.0461093444978975,
+            "required_z": 0.8565866234901754,
+            "initial_z": 0.7565866234901755,
+            "lift_margin": 0.18952272100772205,
+            "gripper_z": 1.0496781548046767,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23659375004159386,
+              -0.09882757495960845,
+              1.0496781548046767
+            ],
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+              0.004437666645867838,
+              0.004478151800587124,
+              -0.0035688103067792465
+            ],
+            "object_to_gripper_xy": 0.006304500678796824,
+            "object_to_gripper_z": -0.0035688103067792465,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2410314166874617,
+              -0.11834309441724178,
+              1.0461093444978975
+            ],
+            "finger_b": [
+              0.22986357905826937,
+              -0.09434942315902133,
+              1.0461093444978975
+            ],
+            "finger_midpoint": [
+              0.23544749787286554,
+              -0.10634625878813156,
+              1.0461093444978975
+            ],
+            "object_minus_finger_midpoint": [
+              0.005583918814596162,
+              0.011996835629110233,
+              0.0
+            ],
+            "finger_gap": 0.026465389809325657,
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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": 1.0461093444978975,
+            "object_top_z": 1.0915119851959973,
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+            "fingertip_min_top_clearance": 0.013620792209429954,
+            "object_projection_between_fingers": 0.8219337585463733,
+            "object_to_finger_line_xy": 0.010124824409183797,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04841304479910569,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3277372973710289,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdb2cb2566a18a8dc0afd7ca725f5f943217988c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_71_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              -0.09875487361490001,
+              1.0446055207497105
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+              1.0482679096842886
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+              0.004369142648876931,
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+            "object_to_gripper_z": -0.0036623889345781535,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.12281312907075845,
+              1.0446055207497105
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+              1.0446055207497105
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+              -0.11078400134282923,
+              1.0446055207497105
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+              0.012029127727929217,
+              0.0
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+              0.0,
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+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              1.2414583495125737
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+              -0.09581192172966602,
+              1.2382754007978547
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+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.003182948714719025,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
+            },
+            "failed_keys": []
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 2.062709159450923,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
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+            "source_missing": false,
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+          }
+        },
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+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007777214050292969,
+            "max_z_decrease": 0.007777214050292969,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035211213244917154,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007777214050292969,
+            "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": 0.02122357084530082,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007777214050292969,
+            "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": 0.00777723736792578,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16220012307167053,
+              -0.38155350089073176,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16220012307167053,
+              -0.38155350089073176,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16389336117729641,
+              -0.38311570410110074,
+              0.8079932848333141
+            ],
+            "closest_button": [
+              0.16219012439250946,
+              -0.3815624415874481,
+              0.7728576064109802
+            ],
+            "closest_ee_minus_button": [
+              0.0017032367847869545,
+              -0.0015532625136526201,
+              0.035135678422333894
+            ],
+            "button_min_z_position": [
+              0.16218122839927673,
+              -0.3815558850765228,
+              0.7690316438674927
+            ],
+            "min_active_finger_to_button": 0.1443663845539228,
+            "closest_active_finger": [
+              0.022532232105731964,
+              -0.36877140402793884,
+              0.8109197616577148
+            ],
+            "closest_active_finger_button": [
+              0.16220463812351227,
+              -0.3815546333789825,
+              0.7767165303230286
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1396724060177803,
+              0.012783229351043646,
+              0.03420323133468628
+            ],
+            "min_contact_pad_to_button": 0.02122357084530082,
+            "closest_contact_pad": [
+              0.16218122839927673,
+              -0.38412967898898914,
+              0.7900985739789649
+            ],
+            "closest_contact_pad_button": [
+              0.16218122839927673,
+              -0.3815558850765228,
+              0.7690316438674927
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025737939124663156,
+              0.021066930111472204
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a0225a9130f4a0528bb969e09247c14d36f5a3c59a6d093f1cbd671a17ea47ed",
+    "visual_seed": 8803861761646246301,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8765493c319342d1cb5041b0208e0d4df575691d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_72_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23966278509034836,
+              -0.09956897722626736,
+              1.044606290901581
+            ],
+            "current_z": 1.044606290901581,
+            "required_z": 0.8565865239646482,
+            "initial_z": 0.7565865239646482,
+            "lift_margin": 0.1880197669369328,
+            "gripper_z": 1.0481778940613007,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23540735686671224,
+              -0.10388598199087787,
+              1.0481778940613007
+            ],
+            "object_minus_gripper": [
+              0.004255428223636115,
+              0.004317004764610513,
+              -0.003571603159719716
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+            "object_to_gripper_xy": 0.006061781875339024,
+            "object_to_gripper_z": -0.003571603159719716,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23966278509034836,
+              -0.12357230962026504,
+              1.044606290901581
+            ],
+            "finger_b": [
+              0.22888740365263505,
+              -0.09956897722626736,
+              1.044606290901581
+            ],
+            "finger_midpoint": [
+              0.2342750943714917,
+              -0.1115706434232662,
+              1.044606290901581
+            ],
+            "object_minus_finger_midpoint": [
+              0.005387690718856669,
+              0.012001666196998842,
+              0.0
+            ],
+            "finger_gap": 0.02631100171306587,
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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": 1.044606290901581,
+            "object_top_z": 1.090647514020857,
+            "finger_top_clearance": 0.04604122311927594,
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+            "object_projection_between_fingers": 0.832277804143477,
+            "object_to_finger_line_xy": 0.009830300843053946,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049071273824871545,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4824287368057012,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 201,
+            "max_stable_success_frames": 201,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2363718416361527,
+              -0.09935124757360476,
+              1.2404414484011204
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+            "held_position": [
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+              -0.09487923556569224,
+              1.2373981487701298
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007036190923809186,
+            "max_held_gripper_dist": 0.0070386108705821505,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030432996309905924,
+            "max_held_gripper_z_dist": 0.003586750424407592,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08535213756908706,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              -0.11834241843956692,
+              1.2373981487701298
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+              -0.09487923556569224,
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+              -0.10661082700262958,
+              1.2373981487701298
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+            "held_grasp_object_position": [
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+              -0.09487923556569224,
+              1.2373981487701298
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+            "held_grasp_finger_gap": 0.025177398045293745,
+            "held_grasp_max_gap": 0.12496595591306686,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02287816526184584,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04120559874023188,
+              -0.9911027663599457,
+              -0.12655988758734774
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004344308582290268,
+            "held_grasp_line_xy_max_dist": 0.04748297795653343,
+            "held_grasp_object_top_z": 0.04520071670413017,
+            "held_grasp_top_clearance": 0.033385373881146596,
+            "held_grasp_min_top_clearance": 0.013560215011239052
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3135650321404972,
+              -0.3279044885582511,
+              0.8470194541437
+            ],
+            "target_position": [
+              0.30937803747126047,
+              -0.32966030109902966,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004540242508784302,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18538192919309548,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194541437,
+            "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": 0.07550993294978417,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08613007925156628,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15378051752149519,
+            "release_required_pad_clearance": 0.05306503962578314,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.159594409253433,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007669389247894287,
+            "max_z_decrease": 0.007669389247894287,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518240086986977,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007669389247894287,
+            "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": 0.02122642265556333,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007669389247894287,
+            "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": 0.00766941063486577,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16507796943187714,
+              -0.3859217464923858,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16507796943187714,
+              -0.3859217464923858,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1658527295525647,
+              -0.3875259062446696,
+              0.8082191329462015
+            ],
+            "closest_button": [
+              0.16507142782211304,
+              -0.3859306871891021,
+              0.7730816006660461
+            ],
+            "closest_ee_minus_button": [
+              0.0007813017304516556,
+              -0.0015952190555674761,
+              0.03513753228015537
+            ],
+            "button_min_z_position": [
+              0.1650599092245102,
+              -0.38592311739921564,
+              0.7691394686698914
+            ],
+            "min_active_finger_to_button": 0.1452657688124212,
+            "closest_active_finger": [
+              0.02447265386581421,
+              -0.37325361371040344,
+              0.8106262683868408
+            ],
+            "closest_active_finger_button": [
+              0.16507963836193085,
+              -0.385925143957138,
+              0.7764027118682861
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14060698449611664,
+              0.012671530246734564,
+              0.03422355651855469
+            ],
+            "min_contact_pad_to_button": 0.02122642265556333,
+            "closest_contact_pad": [
+              0.1650599092245102,
+              -0.38855939188508065,
+              0.790201545385823
+            ],
+            "closest_contact_pad_button": [
+              0.1650599092245102,
+              -0.38592311739921564,
+              0.7691394686698914
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002636274485865009,
+              0.021062076715931632
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bfb811d8ac54a6c63bb8ecbda35fabf2953bbbc775425acdd9d1d67d400f4150",
+    "visual_seed": 1688089813675989280,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..98abe050a3a3685f9ae1b9096ee28cf19959d1eb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_73_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              -0.10121790070315338,
+              1.044310400357797
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+            "lift_margin": 0.18772382447054514,
+            "gripper_z": 1.0479927142953773,
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+            "gripper_position": [
+              0.24007285580762922,
+              -0.10567797943533273,
+              1.0479927142953773
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+              0.004527941800049701,
+              0.004460078732179351,
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+            "object_to_gripper_z": -0.0036823139375803393,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24460079760767892,
+              -0.12537690545750177,
+              1.044310400357797
+            ],
+            "finger_b": [
+              0.23364502991685376,
+              -0.10121790070315338,
+              1.044310400357797
+            ],
+            "finger_midpoint": [
+              0.23912291376226635,
+              -0.11329740308032757,
+              1.044310400357797
+            ],
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+              0.005477883845412562,
+              0.012079502377174187,
+              0.0
+            ],
+            "finger_gap": 0.02652708722072509,
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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": 0.829428488131184,
+            "object_to_finger_line_xy": 0.009977742430891227,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04904622374506519,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4272297893636532,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
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+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b860a68dd2ae02913a824eb1f8798ffdf317168f14d4e734c37205b024b7a392",
+    "visual_seed": 5545443809265852515,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5968b5a797c69570ba9c7453b05ca3493844130
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_74_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+          "skill": "pick",
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+              0.23343765233419897,
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+              1.0496794514200678
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+              -0.11552535503571937,
+              1.045788570399037
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+              0.0,
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+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+        },
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1535826718724764,
+            "release_required_pad_clearance": 0.053266890217758475,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.553146112211633,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007561147212982178,
+            "max_z_decrease": 0.007561147212982178,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517228615004965,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007561147212982178,
+            "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": 0.021258113845620274,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007561147212982178,
+            "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": 0.0075611703268086495,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.165959432721138,
+              -0.3848852515220642,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.165959432721138,
+              -0.3848852515220642,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16494495717402657,
+              -0.3866997555333881,
+              0.8082238661685235
+            ],
+            "closest_button": [
+              0.1659521609544754,
+              -0.38489499688148493,
+              0.7731123566627502
+            ],
+            "closest_ee_minus_button": [
+              -0.0010072037804488287,
+              -0.00180475865190316,
+              0.03511150950577324
+            ],
+            "button_min_z_position": [
+              0.1659408062696457,
+              -0.3848868608474731,
+              0.7692477107048035
+            ],
+            "min_active_finger_to_button": 0.1469685478405455,
+            "closest_active_finger": [
+              0.023722298443317413,
+              -0.3709285259246826,
+              0.8106914162635803
+            ],
+            "closest_active_finger_button": [
+              0.16595937311649323,
+              -0.384888470172882,
+              0.7764351963996887
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1422370746731758,
+              0.013959944248199407,
+              0.0342562198638916
+            ],
+            "min_contact_pad_to_button": 0.021258113845620274,
+            "closest_contact_pad": [
+              0.1659408062696457,
+              -0.3879294461075645,
+              0.790286961623228
+            ],
+            "closest_contact_pad_button": [
+              0.1659408062696457,
+              -0.3848868608474731,
+              0.7692477107048035
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003042585260091435,
+              0.021039250918424512
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "65a2174d5ab0acc38a9684fffc5df3e5dbb61dc93fd7ac7d2b49a8925c34c421",
+    "visual_seed": 736785320508915119,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..57d4328690d62924fa342c59e6085b4fe8ba3668
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_75_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24221631810780128,
+              -0.09433383709423757,
+              1.0441998889347295
+            ],
+            "current_z": 1.0441998889347295,
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+            "initial_z": 0.7565865695830777,
+            "lift_margin": 0.18761331935165182,
+            "gripper_z": 1.0481351153763867,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2372704460858365,
+              -0.09901456407323041,
+              1.0481351153763867
+            ],
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+              0.004945872021964781,
+              0.004680726978992841,
+              -0.003935226441657225
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+            "object_to_gripper_xy": 0.006809614901705194,
+            "object_to_gripper_z": -0.003935226441657225,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24221631810780128,
+              -0.11876660849383612,
+              1.0441998889347295
+            ],
+            "finger_b": [
+              0.230955939341761,
+              -0.09433383709423757,
+              1.0441998889347295
+            ],
+            "finger_midpoint": [
+              0.23658612872478113,
+              -0.10655022279403684,
+              1.0441998889347295
+            ],
+            "object_minus_finger_midpoint": [
+              0.005630189383020151,
+              0.01221638569979927,
+              0.0
+            ],
+            "finger_gap": 0.026902721948154833,
+            "fingertip_max_gap": 0.094595774385141,
+            "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": 0.8248082897685002,
+            "object_to_finger_line_xy": 0.010226558516783283,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0497978871925705,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3393293972167473,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23615431664743106,
+              -0.09610723034325666,
+              1.243007564876753
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+            "held_position": [
+              0.2413309039213055,
+              -0.09129478408565549,
+              1.2395499573156223
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+                "robot",
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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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+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+              0.8470195628681014
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+            "gripper_dist": 0.18604243836099815,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
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+            "final_z_decrease": 0.0,
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+            "min_ee_to_button": 0.035142048990213975,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076749324798583984,
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+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021121400732397218,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0076749324798583984,
+            "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": 0.007674952458019435,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15952053666114807,
+              -0.3851004540920257,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15952053666114807,
+              -0.3851004540920257,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16041595533783493,
+              -0.3848190461421215,
+              0.8080150330289423
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+            "closest_button": [
+              0.15951482951641083,
+              -0.3851094543933868,
+              0.7728857398033142
+            ],
+            "closest_ee_minus_button": [
+              0.000901125821424098,
+              0.0002904082512653061,
+              0.03512929322562808
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+            "button_min_z_position": [
+              0.1595032960176468,
+              -0.38510352373123163,
+              0.7691339254379272
+            ],
+            "min_active_finger_to_button": 0.14524410535906299,
+            "closest_active_finger": [
+              0.03242522478103638,
+              -0.4465119540691376,
+              0.8109645247459412
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+            "closest_active_finger_button": [
+              0.15952672064304352,
+              -0.38510116934776295,
+              0.7767625451087952
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12710149586200714,
+              -0.06141078472137462,
+              0.034201979637145996
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+            "min_contact_pad_to_button": 0.021121400732397218,
+            "closest_contact_pad": [
+              0.1595032960176468,
+              -0.38617046397248395,
+              0.7902283608989702
+            ],
+            "closest_contact_pad_button": [
+              0.1595032960176468,
+              -0.38510352373123163,
+              0.7691339254379272
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010669402412523121,
+              0.02109443546104295
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "403559788916efa6196a282c0998f045ad107ffa0bb229561ed02a63940df91f",
+    "visual_seed": 7639939752036720546,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..667f732a0a6f9b9a756350ee0ad286fe2dd7bb00
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_76_success.json
@@ -0,0 +1,926 @@
+{
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+  "success": true,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515547081666905,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074654221534729,
+            "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": 0.021099620290521787,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.0074654221534729,
+            "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": 0.007465447000795724,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16163550317287448,
+              -0.37902283668518066,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16163550317287448,
+              -0.37902283668518066,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16270901485322312,
+              -0.378861686939079,
+              0.8081965694658487
+            ],
+            "closest_button": [
+              0.16162660717964172,
+              -0.3790314793586731,
+              0.7730581760406494
+            ],
+            "closest_ee_minus_button": [
+              0.0010824076735813926,
+              0.00016979241959408364,
+              0.03513839342519931
+            ],
+            "button_min_z_position": [
+              0.16161642968654633,
+              -0.3790255188941955,
+              0.7693434357643127
+            ],
+            "min_active_finger_to_button": 0.14512322186686244,
+            "closest_active_finger": [
+              0.03578953444957733,
+              -0.44272059202194214,
+              0.8104857206344604
+            ],
+            "closest_active_finger_button": [
+              0.16163679957389832,
+              -0.3790254592895507,
+              0.7763368487358093
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12584726512432098,
+              -0.06369513273239141,
+              0.03414887189865112
+            ],
+            "min_contact_pad_to_button": 0.021099620290521787,
+            "closest_contact_pad": [
+              0.16161642968654633,
+              -0.3799754475404816,
+              0.7904216617800657
+            ],
+            "closest_contact_pad_button": [
+              0.16161642968654633,
+              -0.3790255188941955,
+              0.7693434357643127
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009499286462861245,
+              0.021078226015752932
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "768019e0b19ef3ccdcc2ead40d157d6d4c493fbcb3514aa81dd6e25ecfdf4226",
+    "visual_seed": 7072813749674589858,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8995e5eba96a0ff5fb65cbba54d3015c7ce8e40f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_77_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24327432875678473,
+              -0.10014245500589171,
+              1.0446055567222299
+            ],
+            "current_z": 1.0446055567222299,
+            "required_z": 0.85658661546204,
+            "initial_z": 0.75658661546204,
+            "lift_margin": 0.18801894126018992,
+            "gripper_z": 1.0487915069182485,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2384467372542664,
+              -0.10472444941141892,
+              1.0487915069182485
+            ],
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+              0.004827591502518325,
+              0.004581994405527215,
+              -0.00418595019601864
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+            "object_to_gripper_xy": 0.006655847988608952,
+            "object_to_gripper_z": -0.00418595019601864,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24327432875678473,
+              -0.12459029034855072,
+              1.0446055567222299
+            ],
+            "finger_b": [
+              0.23229692148958622,
+              -0.10014245500589171,
+              1.0446055567222299
+            ],
+            "finger_midpoint": [
+              0.23778562512318546,
+              -0.11236637267722122,
+              1.0446055567222299
+            ],
+            "object_minus_finger_midpoint": [
+              0.005488703633599268,
+              0.012223917671329507,
+              0.0
+            ],
+            "finger_gap": 0.026799256020488885,
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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": 1.0919304691352036,
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+            "fingertip_min_top_clearance": 0.014197473723892145,
+            "object_projection_between_fingers": 0.8322146343217636,
+            "object_to_finger_line_xy": 0.010014227452903802,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05102323992301022,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0231318467443873,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23804184184925056,
+              -0.10068836876058157,
+              1.2400666784840255
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+            "held_position": [
+              0.2429834869088214,
+              -0.09584045088680891,
+              1.2363175087345624
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007872638529483934,
+            "max_held_gripper_dist": 0.007876360514402336,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003749169749463155,
+            "max_held_gripper_z_dist": 0.004229918202048211,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08575431527688156,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2429834869088214,
+              -0.11965832300902987,
+              1.2363175087345624
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+              1.2363175087345624
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+              0.23809702971499863,
+              -0.10774938694791938,
+              1.2363175087345624
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+            "held_grasp_object_position": [
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+              -0.09584045088680891,
+              1.2363175087345624
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+            "held_grasp_finger_gap": 0.025744919655316858,
+            "held_grasp_max_gap": 0.1249661123752594,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023746412405603455,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.004837002775553225,
+              -0.9950150319883102,
+              -0.09960767802459555
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005084042989245419,
+            "held_grasp_line_xy_max_dist": 0.0474830561876297,
+            "held_grasp_object_top_z": 0.045200809836387634,
+            "held_grasp_top_clearance": 0.033374875247604185,
+            "held_grasp_min_top_clearance": 0.01356024295091629
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3096706285346016,
+              -0.3269996540853978,
+              0.8470195280267803
+            ],
+            "target_position": [
+              0.3058053832630146,
+              -0.3290725316539693,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004385993892359258,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18353509534686868,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195280267803,
+            "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": 0.07571928204577726,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08939103543785197,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15179316971795243,
+            "release_required_pad_clearance": 0.05469551771892599,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.435934823579065,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007696688175201416,
+            "max_z_decrease": 0.007696688175201416,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514810324189306,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007696688175201416,
+            "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": 0.021064785135523324,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007696688175201416,
+            "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": 0.007696711552171042,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1615053117275238,
+              -0.3853339850902556,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1615053117275238,
+              -0.3853339850902556,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16076321636232865,
+              -0.38560824134958344,
+              0.8080591829312904
+            ],
+            "closest_button": [
+              0.1614948809146881,
+              -0.38534069061279286,
+              0.7729197144508362
+            ],
+            "closest_ee_minus_button": [
+              -0.0007316645523594567,
+              -0.0002675507367905783,
+              0.03513946848045424
+            ],
+            "button_min_z_position": [
+              0.16148637235164642,
+              -0.38533505797386164,
+              0.7691121697425842
+            ],
+            "min_active_finger_to_button": 0.14681577846514907,
+            "closest_active_finger": [
+              0.019393697381019592,
+              -0.371498703956604,
+              0.8109486103057861
+            ],
+            "closest_active_finger_button": [
+              0.16150783002376556,
+              -0.3853353857994079,
+              0.7767873406410217
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14211413264274597,
+              0.0138366818428039,
+              0.034161269664764404
+            ],
+            "min_contact_pad_to_button": 0.021064785135523324,
+            "closest_contact_pad": [
+              0.16148637235164642,
+              -0.3865771812395157,
+              0.7901403009624213
+            ],
+            "closest_contact_pad_button": [
+              0.16148637235164642,
+              -0.38533505797386164,
+              0.7691121697425842
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012421232656540382,
+              0.021028131219837043
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "128bf209a78072a8ee44dbc649d66def8f545ca9ca8c98627bbca2535a193cfe",
+    "visual_seed": 1106102920908557189,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1889ab8647a6129feca7157f594f3298ac18c1e6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_78_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23837397179814906,
+              -0.0993476238828869,
+              1.0464900274462139
+            ],
+            "current_z": 1.0464900274462139,
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+            "lift_margin": 0.18990339460549677,
+            "gripper_z": 1.0502823013679672,
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+            "gripper_position": [
+              0.23405217723961816,
+              -0.10369808392905858,
+              1.0502823013679672
+            ],
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+              0.004321794558530906,
+              0.004350460046171678,
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+            "object_to_gripper_xy": 0.006132243538826832,
+            "object_to_gripper_z": -0.0037922739217532975,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23837397179814906,
+              -0.12343135932446349,
+              1.0464900274462139
+            ],
+            "finger_b": [
+              0.22759057502359872,
+              -0.0993476238828869,
+              1.0464900274462139
+            ],
+            "finger_midpoint": [
+              0.2329822734108739,
+              -0.1113894916036752,
+              1.0464900274462139
+            ],
+            "object_minus_finger_midpoint": [
+              0.005391698387275157,
+              0.012041867720788302,
+              0.0
+            ],
+            "finger_gap": 0.026387647845483215,
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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": 1.0921226707859577,
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+            "object_projection_between_fingers": 0.8330025608282557,
+            "object_to_finger_line_xy": 0.009841895594505377,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04862218237082565,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.753832430079815,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
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+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3267e016d2e4939da6597e21eb1c74cebf37d8af9ebad863b646ee4ac6467586",
+    "visual_seed": 8407767820100743680,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..79241b0a2e2f06d834e63af0122e10a1ff2b8d2a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_79_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              -0.09590562467663116,
+              1.047560947679752
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+            "lift_margin": 0.19097437668379025,
+            "gripper_z": 1.0511211926357626,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.10049467922136032,
+              1.0511211926357626
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+              0.00458905454472916,
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+              -0.11980774952205775,
+              1.047560947679752
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+              1.047560947679752
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+              -0.10785668709934446,
+              1.047560947679752
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+              0.011951062422713293,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
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+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+            },
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+          }
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.09803481725921893,
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+              -0.09338946400012534,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003002914687800118,
+            "max_held_gripper_z_dist": 0.0035576494326485797,
+            "held_gripper_z_max_dist": 0.15,
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+              -0.10519121095002032,
+              1.2402164316973865
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+              -0.09338946400012534,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9890296355759797,
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+            "held_grasp_object_to_finger_line_xy": 0.0043819659217944,
+            "held_grasp_line_xy_max_dist": 0.047483089715242385,
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+            "held_grasp_min_top_clearance": 0.01356024295091629
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
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+          "passed": true,
+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15484609224512197,
+            "release_required_pad_clearance": 0.052689231690800684,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4334093826335402,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00776362419128418,
+            "max_z_decrease": 0.00776362419128418,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519012030171215,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00776362419128418,
+            "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": 0.021146329234631157,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00776362419128418,
+            "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": 0.007763644906770135,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1657653152942658,
+              -0.376993328332901,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1657653152942658,
+              -0.376993328332901,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1675384718490704,
+              -0.3771419280126601,
+              0.8043905420485252
+            ],
+            "closest_button": [
+              0.16574606299400335,
+              -0.3769967555999756,
+              0.7692463994026184
+            ],
+            "closest_ee_minus_button": [
+              0.0017924088550670403,
+              -0.0001451724126845244,
+              0.03514414264590682
+            ],
+            "button_min_z_position": [
+              0.16574774682521826,
+              -0.3769969344139099,
+              0.7690452337265015
+            ],
+            "min_active_finger_to_button": 0.14402550944275783,
+            "closest_active_finger": [
+              0.026731319725513458,
+              -0.3617153763771057,
+              0.8103829622268677
+            ],
+            "closest_active_finger_button": [
+              0.16576755046844488,
+              -0.3769972622394562,
+              0.7760502099990845
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13903623074293142,
+              0.015281885862350464,
+              0.0343327522277832
+            ],
+            "min_contact_pad_to_button": 0.021146329234631157,
+            "closest_contact_pad": [
+              0.16574774682521826,
+              -0.3782595983762551,
+              0.7901538319702885
+            ],
+            "closest_contact_pad_button": [
+              0.16574774682521826,
+              -0.3769969344139099,
+              0.7690452337265015
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012626639623452007,
+              0.02110859824378708
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f83fcdf9b2532c85ff53e07303b262bd38982054b5e825f24476d3bd0e49b208",
+    "visual_seed": 2437389585981884832,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..be1919c375786ec2f2e0abbb72529098887b921d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_7_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24548267258021128,
+              -0.09968628564720793,
+              1.0459215763741818
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+            "current_z": 1.0459215763741818,
+            "required_z": 0.8565866060002876,
+            "initial_z": 0.7565866060002876,
+            "lift_margin": 0.18933497037389424,
+            "gripper_z": 1.049514919014394,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24077889491836568,
+              -0.10424122892439923,
+              1.049514919014394
+            ],
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+              0.004703777661845598,
+              0.004554943277191303,
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+            "object_to_gripper_xy": 0.006547750189989527,
+            "object_to_gripper_z": -0.0035933426402121604,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24548267258021128,
+              -0.12394776797057488,
+              1.0459215763741818
+            ],
+            "finger_b": [
+              0.23438838871831594,
+              -0.09968628564720793,
+              1.0459215763741818
+            ],
+            "finger_midpoint": [
+              0.2399355306492636,
+              -0.11181702680889141,
+              1.0459215763741818
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055471419309476855,
+              0.012130741161683486,
+              0.0
+            ],
+            "finger_gap": 0.02667775588267047,
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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": 1.0912256633702686,
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+            "fingertip_min_top_clearance": 0.013591226098826003,
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+            "object_to_finger_line_xy": 0.01008944579107701,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832129750761052,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.622408175775482,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23949966884575716,
+              -0.10178768260670319,
+              1.2424355109023304
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+            "held_position": [
+              0.2444271386575087,
+              -0.0971221836393276,
+              1.2393144632314546
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0074691216300301995,
+            "max_held_gripper_dist": 0.00747108940671628,
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+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31731700326882356,
+              -0.3246890281760766,
+              0.847019948806368
+            ],
+            "target_position": [
+              0.31137311758017033,
+              -0.32760330376154395,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006619877587072724,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18497704565246514,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019948806368,
+            "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": 0.07556877112079172,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08693035744242388,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15365531256043663,
+            "release_required_pad_clearance": 0.05346517872121194,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9423225854882427,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007567346096038818,
+            "max_z_decrease": 0.007567346096038818,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515434717845174,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007567346096038818,
+            "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": 0.021149461092744293,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007567346096038818,
+            "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": 0.007567366167389478,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16707304120063776,
+              -0.38386476039886475,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16707304120063776,
+              -0.38386476039886475,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16783479016485947,
+              -0.38189858175883384,
+              0.8074479686768974
+            ],
+            "closest_button": [
+              0.16706137359142298,
+              -0.38386785984039307,
+              0.7723573446273804
+            ],
+            "closest_ee_minus_button": [
+              0.0007734165734364917,
+              0.0019692780815592226,
+              0.035090624049517016
+            ],
+            "button_min_z_position": [
+              0.16705606877803797,
+              -0.3838687241077423,
+              0.7692415118217468
+            ],
+            "min_active_finger_to_button": 0.14465817173783344,
+            "closest_active_finger": [
+              0.03981702774763107,
+              -0.4434055685997009,
+              0.8108121752738953
+            ],
+            "closest_active_finger_button": [
+              0.16707643866538996,
+              -0.3838670551776886,
+              0.7763710021972656
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1272594109177589,
+              -0.05953851342201233,
+              0.03444117307662964
+            ],
+            "min_contact_pad_to_button": 0.021149461092744293,
+            "closest_contact_pad": [
+              0.16705606877803797,
+              -0.3838687241077423,
+              0.7903909729144911
+            ],
+            "closest_contact_pad_button": [
+              0.16705606877803797,
+              -0.3838687241077423,
+              0.7692415118217468
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021149461092744293
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "74fd86888237dda43ace4c703432b007a0376419fb5a2d9c879de8347922f397",
+    "visual_seed": 1699315078897487195,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e887ea64f83918cbfe9d1cd8b2c7c91c5f3b671e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_80_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
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+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021082329485182627,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007808268070220947,
+            "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": 0.007808288540934598,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1647340506315232,
+              -0.38188222050666804,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1647340506315232,
+              -0.38188222050666804,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16663654995022373,
+              -0.3807904930853169,
+              0.8079053218757422
+            ],
+            "closest_button": [
+              0.16472423076629641,
+              -0.3818910419940948,
+              0.7727667689323425
+            ],
+            "closest_ee_minus_button": [
+              0.0019123191839273135,
+              0.0011005489087779208,
+              0.035138552943399626
+            ],
+            "button_min_z_position": [
+              0.16471637785434728,
+              -0.3818849325180053,
+              0.7690005898475647
+            ],
+            "min_active_finger_to_button": 0.1439935808122309,
+            "closest_active_finger": [
+              0.040273517370224,
+              -0.4457356929779053,
+              0.810761034488678
+            ],
+            "closest_active_finger_button": [
+              0.16473588347435003,
+              -0.3818851709365845,
+              0.7766087055206299
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12446236610412603,
+              -0.0638505220413208,
+              0.034152328968048096
+            ],
+            "min_contact_pad_to_button": 0.021082329485182627,
+            "closest_contact_pad": [
+              0.16471637785434728,
+              -0.3818849325180053,
+              0.7900829193327473
+            ],
+            "closest_contact_pad_button": [
+              0.16471637785434728,
+              -0.3818849325180053,
+              0.7690005898475647
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021082329485182627
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d7e3d0b17173fc3b9c2b5e444d5e0c3154358ae224af6d1011b6f3be4dc30a90",
+    "visual_seed": 1194953012132135637,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4cb8ab3423324e6e5411fdfad968892d8655494
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_81_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2384429353636124,
+              -0.09594136639374816,
+              1.0451122764988234
+            ],
+            "current_z": 1.0451122764988234,
+            "required_z": 0.856586582006845,
+            "initial_z": 0.756586582006845,
+            "lift_margin": 0.18852569449197842,
+            "gripper_z": 1.048883428766077,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2341407938282352,
+              -0.10037077638670373,
+              1.048883428766077
+            ],
+            "object_minus_gripper": [
+              0.004302141535377224,
+              0.004429409992955574,
+              -0.0037711522672536635
+            ],
+            "object_to_gripper_xy": 0.0061747951120755895,
+            "object_to_gripper_z": -0.0037711522672536635,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2384429353636124,
+              -0.11985264634683886,
+              1.0451122764988234
+            ],
+            "finger_b": [
+              0.22726642970183086,
+              -0.09594136639374816,
+              1.0451122764988234
+            ],
+            "finger_midpoint": [
+              0.23285468253272162,
+              -0.10789700637029351,
+              1.0451122764988234
+            ],
+            "object_minus_finger_midpoint": [
+              0.005588252830890789,
+              0.011955639976545349,
+              0.0
+            ],
+            "finger_gap": 0.02639438553561935,
+            "fingertip_max_gap": 0.09151143236184292,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013197192767809682,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0451122764988234,
+            "object_top_z": 1.090447926275657,
+            "finger_top_clearance": 0.045335649776833575,
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+            "object_projection_between_fingers": 0.8206964150347217,
+            "object_to_finger_line_xy": 0.010125053125995832,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04825571618092146,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4963592978130753,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 201,
+            "max_stable_success_frames": 201,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2346129193215026,
+              -0.0960941162626955,
+              1.2405937307471588
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+            "held_position": [
+              0.23921977817167897,
+              -0.0915226680948654,
+              1.237393881405651
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007236043298996562,
+            "max_held_gripper_dist": 0.007239475811929808,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031998493415077434,
+            "max_held_gripper_z_dist": 0.0037647609478403954,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08574586554157929,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23921977817167897,
+              -0.11502666752859592,
+              1.237393881405651
+            ],
+            "held_grasp_finger_b": [
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+              -0.0915226680948654,
+              1.237393881405651
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+            "held_grasp_midpoint": [
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+              -0.10327466781173066,
+              1.237393881405651
+            ],
+            "held_grasp_object_position": [
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+              -0.0915226680948654,
+              1.237393881405651
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+            "held_grasp_finger_gap": 0.025259550859227112,
+            "held_grasp_max_gap": 0.12496595591306686,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02276552878973097,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05075988211180181,
+              -0.9885628030320274,
+              -0.14201062928336428
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043625086925328195,
+            "held_grasp_line_xy_max_dist": 0.04748297795653343,
+            "held_grasp_object_top_z": 0.04520070552825928,
+            "held_grasp_top_clearance": 0.033348290360452934,
+            "held_grasp_min_top_clearance": 0.013560211658477784
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "floor",
+                "ground",
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.31491627192436955,
+              -0.3202007098146048,
+              0.8470194767953328
+            ],
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+              0.30837162557025194,
+              -0.3235076326750799,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.007332675821662781,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18396712594360143,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194767953328,
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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_required_pad_clearance": 0.05278771576556822,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6230659901455047,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007501363754272461,
+            "max_z_decrease": 0.007501363754272461,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515002793396154,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007501363754272461,
+            "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": 0.02106527826687099,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007501363754272461,
+            "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": 0.007501382001518523,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16407154500484467,
+              -0.37976908683776855,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16407154500484467,
+              -0.37976908683776855,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16286215187517233,
+              -0.37896073890425,
+              0.8080852150367974
+            ],
+            "closest_button": [
+              0.1640657186508179,
+              -0.37977823615074163,
+              0.7729653120040894
+            ],
+            "closest_ee_minus_button": [
+              -0.0012035667756455648,
+              0.0008174972464916053,
+              0.035119903032708066
+            ],
+            "button_min_z_position": [
+              0.1640552133321762,
+              -0.3797717392444611,
+              0.7693074941635132
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+            "min_active_finger_to_button": 0.14686572715294582,
+            "closest_active_finger": [
+              0.03519958257675171,
+              -0.44133394956588745,
+              0.8104555606842041
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+            "closest_active_finger_button": [
+              0.16407349705696106,
+              -0.37977176904678345,
+              0.776233434677124
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.12887391448020935,
+              -0.061562180519104004,
+              0.03422212600708008
+            ],
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+            "closest_contact_pad": [
+              0.1640552133321762,
+              -0.38030415951853175,
+              0.7903660429528402
+            ],
+            "closest_contact_pad_button": [
+              0.1640552133321762,
+              -0.3797717392444611,
+              0.7693074941635132
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000532420274070633,
+              0.021058548789327003
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1c1c6b7843161da1d2801e44f8859e6c0fe4274b5c1439df2c39bf37046d152d",
+    "visual_seed": 3892406662610088483,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e92bf66a72eed45f50980d38eea8b8befc9c98e8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              -0.1051558731606491,
+              1.0445095349283138
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+            "lift_margin": 0.18792291948000361,
+            "gripper_z": 1.0481751547782228,
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+            "gripper_position": [
+              0.24090071488775971,
+              -0.10970796517862479,
+              1.0481751547782228
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+              0.00472912707717707,
+              0.004552092017975684,
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+            "object_to_gripper_z": -0.0036656198499089854,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24562984196493678,
+              -0.1294949616189865,
+              1.0445095349283138
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+            "finger_b": [
+              0.23459968365635508,
+              -0.1051558731606491,
+              1.0445095349283138
+            ],
+            "finger_midpoint": [
+              0.24011476281064592,
+              -0.1173254173898178,
+              1.0445095349283138
+            ],
+            "object_minus_finger_midpoint": [
+              0.005515079154290864,
+              0.012169544229168702,
+              0.0
+            ],
+            "finger_gap": 0.026721819161410892,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_top_z": 1.091274644803439,
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+            "object_projection_between_fingers": 0.829614964122164,
+            "object_to_finger_line_xy": 0.010046621345665155,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050187520803030836,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4263730053755097,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ec08c94fac7b0dd217bbcac2d8b3d5aa06a63e8caf2a038c1104cc99a14d2e6e",
+    "visual_seed": 987872028016532532,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2af8ec58bebd209842c8184e2c67c0ec87ea45a5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_83_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+          "skill": "pick",
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+              -0.09465508983674817,
+              1.0453324037407368
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+            "gripper_position": [
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+              -0.09919167428021892,
+              1.049065295276935
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+              0.004536584443470756,
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+              1.0453324037407368
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+              -0.10660628504641653,
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+              0.0,
+              1.0
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+            "stable_success_frames": 201,
+            "max_stable_success_frames": 201,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007361930312768578,
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+            "held_gripper_z_dist": 0.003147874915077953,
+            "max_held_gripper_z_dist": 0.0037223538836390624,
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+              -0.10313413591889581,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.0043064246684873485,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+      "physical_semantics": {
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1541963549114295,
+            "release_required_pad_clearance": 0.05293645513280536,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9065398658003669,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007522404193878174,
+            "max_z_decrease": 0.007522404193878174,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515574671463056,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007522404193878174,
+            "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": 0.02104965286805489,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007522404193878174,
+            "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": 0.007522430768163972,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1631586253643036,
+              -0.3807693421840667,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1631586253643036,
+              -0.3807693421840667,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16236636993161555,
+              -0.3800432548473491,
+              0.8081709197840835
+            ],
+            "closest_button": [
+              0.1631482094526291,
+              -0.38077723979949946,
+              0.7730315327644348
+            ],
+            "closest_ee_minus_button": [
+              -0.0007818395210135443,
+              0.0007339849521503794,
+              0.035139387019648693
+            ],
+            "button_min_z_position": [
+              0.16313870251178744,
+              -0.3807710409164428,
+              0.7692864537239075
+            ],
+            "min_active_finger_to_button": 0.1464767104531824,
+            "closest_active_finger": [
+              0.03604768216609955,
+              -0.44507214426994324,
+              0.8104105591773987
+            ],
+            "closest_active_finger_button": [
+              0.1631589680910111,
+              -0.38077190518379206,
+              0.7762985825538635
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12711128592491155,
+              -0.06430023908615118,
+              0.034111976623535156
+            ],
+            "min_contact_pad_to_button": 0.02104965286805489,
+            "closest_contact_pad": [
+              0.16313870251178744,
+              -0.38105185544909725,
+              0.7903342333945488
+            ],
+            "closest_contact_pad_button": [
+              0.16313870251178744,
+              -0.3807710409164428,
+              0.7692864537239075
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002808145326544387,
+              0.02104777967064131
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "60da74d793bfd8cb3a8938b97bf197f06b2e1baad1c980a1b9bf7459eca08c21",
+    "visual_seed": 8836667996687563494,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a7aae6543e1dadaba87b60c7a05e35899b548da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_84_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24184523764883037,
+              -0.09971110342801782,
+              1.04677694800209
+            ],
+            "current_z": 1.04677694800209,
+            "required_z": 0.8565865974967958,
+            "initial_z": 0.7565865974967958,
+            "lift_margin": 0.19019035050529431,
+            "gripper_z": 1.0506970827321074,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23709464984812403,
+              -0.10430552437701238,
+              1.0506970827321074
+            ],
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+              0.004750587800706335,
+              0.0045944209489945514,
+              -0.003920134730017288
+            ],
+            "object_to_gripper_xy": 0.0066088416767826905,
+            "object_to_gripper_z": -0.003920134730017288,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24184523764883037,
+              -0.12400031425877604,
+              1.04677694800209
+            ],
+            "finger_b": [
+              0.23063301318313367,
+              -0.09971110342801782,
+              1.04677694800209
+            ],
+            "finger_midpoint": [
+              0.23623912541598202,
+              -0.11185570884339693,
+              1.04677694800209
+            ],
+            "object_minus_finger_midpoint": [
+              0.005606112232848348,
+              0.012144605415379109,
+              0.0
+            ],
+            "finger_gap": 0.02675219131679104,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01337609565839552,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04677694800209,
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+            "object_projection_between_fingers": 0.824343249642333,
+            "object_to_finger_line_xy": 0.01017995425885582,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0514514598581292,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.3533927399599777,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2371390685568741,
+              -0.09984977799394787,
+              1.2448380388653897
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+            "held_position": [
+              0.24211656943114856,
+              -0.09508157936661221,
+              1.2414283112548
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007690089432610446,
+            "max_held_gripper_dist": 0.007691231150217191,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034097276105897745,
+            "max_held_gripper_z_dist": 0.003944619196386112,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08604418609592271,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+                "beaker_b"
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+                "/World/target_beaker"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "geometry",
+                "gripper",
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+                "joint4",
+                "joint5",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
+                "table",
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+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3106940716254532,
+              -0.3261623613011412,
+              0.847019583332624
+            ],
+            "target_position": [
+              0.3074667659543209,
+              -0.32760356536870666,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0035344831389172294,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18212000588766897,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019583332624,
+            "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": 0.07565207347026072,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0885361905139571,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15042792501259916,
+            "release_required_pad_clearance": 0.05426809525697855,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.5550242604854665,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007751524448394775,
+            "max_z_decrease": 0.007751524448394775,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514258281720532,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007751524448394775,
+            "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": 0.021072187231663254,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007751524448394775,
+            "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": 0.007751545706201382,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16316668689250946,
+              -0.38386502861976624,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16316668689250946,
+              -0.38386502861976624,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1628708514358745,
+              -0.3832436004909372,
+              0.8079859336420822
+            ],
+            "closest_button": [
+              0.16315695643424988,
+              -0.3838731944561004,
+              0.7728501558303833
+            ],
+            "closest_ee_minus_button": [
+              -0.0002861049983753916,
+              0.000629593965163211,
+              0.035135777811698854
+            ],
+            "button_min_z_position": [
+              0.16314874589443207,
+              -0.38386780023574824,
+              0.7690573334693909
+            ],
+            "min_active_finger_to_button": 0.14610337698023168,
+            "closest_active_finger": [
+              0.03590899705886841,
+              -0.44699448347091675,
+              0.8108469843864441
+            ],
+            "closest_active_finger_button": [
+              0.16317018866539,
+              -0.38386702537536616,
+              0.7767044901847839
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12726119160652158,
+              -0.06312745809555059,
+              0.034142494201660156
+            ],
+            "min_contact_pad_to_button": 0.021072187231663254,
+            "closest_contact_pad": [
+              0.16314874589443207,
+              -0.38435627632866537,
+              0.7901238582381542
+            ],
+            "closest_contact_pad_button": [
+              0.16314874589443207,
+              -0.38386780023574824,
+              0.7690573334693909
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004884760929171339,
+              0.02106652476876336
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "86fa6070e1d9db7165e284e1667affe4cb5d553fc71b43e096712478a1ce9147",
+    "visual_seed": 5521770950804027463,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..60f095f21489ee5abe5276554322bddc04e691d3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_85_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2425122437412128,
+              -0.09743101124654521,
+              1.0468633613789349
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+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007895609388381686,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16659966111183167,
+              -0.3817037045955658,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16659966111183167,
+              -0.3817037045955658,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16787543461407356,
+              -0.38034727647270533,
+              0.8077937108303286
+            ],
+            "closest_button": [
+              0.16659316420555115,
+              -0.3817131519317627,
+              0.7726674675941467
+            ],
+            "closest_ee_minus_button": [
+              0.0012822704085224124,
+              0.001365875459057364,
+              0.03512624323618185
+            ],
+            "button_min_z_position": [
+              0.16658195853233337,
+              -0.3817069530487061,
+              0.7689132690429688
+            ],
+            "min_active_finger_to_button": 0.14444608971764591,
+            "closest_active_finger": [
+              0.04097115248441696,
+              -0.4442388415336609,
+              0.8107219338417053
+            ],
+            "closest_active_finger_button": [
+              0.16660182178020477,
+              -0.3817066550254822,
+              0.7764971852302551
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1256306692957878,
+              -0.06253218650817871,
+              0.034224748611450195
+            ],
+            "min_contact_pad_to_button": 0.02109966858775081,
+            "closest_contact_pad": [
+              0.16658195853233337,
+              -0.3817069530487061,
+              0.7900129376307196
+            ],
+            "closest_contact_pad_button": [
+              0.16658195853233337,
+              -0.3817069530487061,
+              0.7689132690429688
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02109966858775081
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f61cd626abb2960246ad0c19fcfbdc103abf2ebc4fb39f9a35f96c24275fe239",
+    "visual_seed": 8436250183329012615,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bf24a6900689063938e431716df220644c6a2cc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_86_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24584662736364574,
+              -0.10115141407953256,
+              1.0454900279301416
+            ],
+            "current_z": 1.0454900279301416,
+            "required_z": 0.8565867440384206,
+            "initial_z": 0.7565867440384206,
+            "lift_margin": 0.18890328389172095,
+            "gripper_z": 1.0489076160920592,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24149686643998128,
+              -0.1056509492571867,
+              1.0489076160920592
+            ],
+            "object_minus_gripper": [
+              0.0043497609236644585,
+              0.00449953517765414,
+              -0.0034175881619176174
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+            "object_to_gripper_xy": 0.0062582934501336195,
+            "object_to_gripper_z": -0.0034175881619176174,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24584662736364574,
+              -0.12497721808752578,
+              1.0454900279301416
+            ],
+            "finger_b": [
+              0.23444843713431487,
+              -0.10115141407953256,
+              1.0454900279301416
+            ],
+            "finger_midpoint": [
+              0.2401475322489803,
+              -0.11306431608352917,
+              1.0454900279301416
+            ],
+            "object_minus_finger_midpoint": [
+              0.005699095114665431,
+              0.011912902003996612,
+              0.0
+            ],
+            "finger_gap": 0.026411885149139194,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013205942574569597,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0454900279301416,
+            "object_top_z": 1.0908163668447917,
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+            "fingertip_min_top_clearance": 0.013597901674395063,
+            "object_projection_between_fingers": 0.8137599834930045,
+            "object_to_finger_line_xy": 0.010282153088141503,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04817702509928719,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3892654617727374,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 201,
+            "max_stable_success_frames": 201,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2398295852308065,
+              -0.10295677711492447,
+              1.243989604608734
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+            "held_position": [
+              0.24453201507338015,
+              -0.09842872242730354,
+              1.2411205776819687
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007130739175213004,
+            "max_held_gripper_dist": 0.007132452769935449,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028690269267652724,
+            "max_held_gripper_z_dist": 0.003408588599931761,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0850643821000984,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24453201507338015,
+              -0.12203628886722709,
+              1.2411205776819687
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+              -0.09842872242730354,
+              1.2411205776819687
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+              0.23983472487450735,
+              -0.1102325056472653,
+              1.2411205776819687
+            ],
+            "held_grasp_object_position": [
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+              -0.09842872242730354,
+              1.2411205776819687
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+            "held_grasp_finger_gap": 0.02540817455200413,
+            "held_grasp_max_gap": 0.1249658739566803,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02278888165980242,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06001666604525258,
+              -0.9892045888591309,
+              -0.1336872513624643
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004288771260696755,
+            "held_grasp_line_xy_max_dist": 0.04748293697834015,
+            "held_grasp_object_top_z": 0.04520070180296898,
+            "held_grasp_top_clearance": 0.033242429578700994,
+            "held_grasp_min_top_clearance": 0.013560210540890693
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3158751979179376,
+              -0.32634965162279805,
+              0.8470196494371891
+            ],
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+              0.3093782670409205,
+              -0.3296541083467999,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007289001650537598,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18698029559175433,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196494371891,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08582278064323966,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1548383075673362,
+            "release_required_pad_clearance": 0.05291139032161983,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8613860884518675,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007874071598052979,
+            "max_z_decrease": 0.007874071598052979,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516271553074292,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007874071598052979,
+            "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": 0.021092995333173548,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007874071598052979,
+            "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": 0.007874091976158357,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16507819294929504,
+              -0.38591557741165156,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16507819294929504,
+              -0.38591557741165156,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1644652337305847,
+              -0.38436832260089704,
+              0.8078089576980976
+            ],
+            "closest_button": [
+              0.1650722175836563,
+              -0.3859246373176574,
+              0.7726859450340271
+            ],
+            "closest_ee_minus_button": [
+              -0.0006069838530716187,
+              0.0015563147167603764,
+              0.035123012664070474
+            ],
+            "button_min_z_position": [
+              0.16506056487560272,
+              -0.38591876626014704,
+              0.7689347863197327
+            ],
+            "min_active_finger_to_button": 0.1460263637701555,
+            "closest_active_finger": [
+              0.03696240484714508,
+              -0.44705918431282043,
+              0.8107430338859558
+            ],
+            "closest_active_finger_button": [
+              0.16508035361766815,
+              -0.3859186172485351,
+              0.7765184640884399
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12811794877052307,
+              -0.061140567064285334,
+              0.03422456979751587
+            ],
+            "min_contact_pad_to_button": 0.021092995333173548,
+            "closest_contact_pad": [
+              0.16506056487560272,
+              -0.38591876626014704,
+              0.7900277816529062
+            ],
+            "closest_contact_pad_button": [
+              0.16506056487560272,
+              -0.38591876626014704,
+              0.7689347863197327
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021092995333173548
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b24c95c205021f42b9320b2ff44244f272002464aba1aa814e7f03da4b4665a",
+    "visual_seed": 2694696760525099495,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1724b057f78da8912c9b598cc67058dd8750a6a5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_87_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              -0.10217092107537494,
+              1.0477122847080589
+            ],
+            "current_z": 1.0477122847080589,
+            "required_z": 0.8565866361222553,
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+            "lift_margin": 0.1911256485858036,
+            "gripper_z": 1.051087051017874,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2404018922458572,
+              -0.10660273506056157,
+              1.051087051017874
+            ],
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+              0.004368665313715603,
+              0.004431813985186633,
+              -0.003374766309815147
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+            "object_to_gripper_xy": 0.006223038793271152,
+            "object_to_gripper_z": -0.003374766309815147,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2447705575595728,
+              -0.1261653923307974,
+              1.0477122847080589
+            ],
+            "finger_b": [
+              0.2337348453047876,
+              -0.10217092107537494,
+              1.0477122847080589
+            ],
+            "finger_midpoint": [
+              0.2392527014321802,
+              -0.11416815670308617,
+              1.0477122847080589
+            ],
+            "object_minus_finger_midpoint": [
+              0.005517856127392612,
+              0.011997235627711225,
+              0.0
+            ],
+            "finger_gap": 0.026410634142286532,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013205317071143264,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477122847080589,
+            "object_top_z": 1.094316369078125,
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+            "fingertip_min_top_clearance": 0.01398122531101984,
+            "object_projection_between_fingers": 0.8254004668756726,
+            "object_to_finger_line_xy": 0.010026115959729543,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049935144651011884,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2188661418938374,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "004db4e67d444c72a2fd4b4cab28d2764d81eddf667dd434b99bd2fb4f3094c2",
+    "visual_seed": 8951829850201100826,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
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+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a7c2e0e4aa09e1b817f26341f26de060234c33f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_88_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              -0.10141403404060016,
+              1.0443272877096605
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+              1.0443272877096605
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+              -0.11337316682019546,
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+              0.0,
+              1.0
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+            "stable_success_frames": 200,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              -0.09756775192786142,
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+            "max_held_gripper_z_dist": 0.003674959493082275,
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+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15554642279530748,
+            "release_required_pad_clearance": 0.052516965224035025,
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+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.10467822172703711,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007601380348205566,
+            "max_z_decrease": 0.007601380348205566,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03523000091768839,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007601380348205566,
+            "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": 0.02107756743194844,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007601380348205566,
+            "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": 0.007601404713954534,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16388987004756927,
+              -0.38547834753990173,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16388987004756927,
+              -0.38547834753990173,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16606887117568295,
+              -0.38435818263216226,
+              0.8082445723133569
+            ],
+            "closest_button": [
+              0.16388414800167084,
+              -0.3854868113994598,
+              0.7731004953384399
+            ],
+            "closest_ee_minus_button": [
+              0.00218472317401211,
+              0.0011286287672975237,
+              0.03514407697491695
+            ],
+            "button_min_z_position": [
+              0.16387073695659637,
+              -0.3854804337024688,
+              0.7692074775695801
+            ],
+            "min_active_finger_to_button": 0.14375587306322266,
+            "closest_active_finger": [
+              0.03961411863565445,
+              -0.4491531252861023,
+              0.8105806708335876
+            ],
+            "closest_active_finger_button": [
+              0.16389131546020508,
+              -0.38548111915588373,
+              0.7764221429824829
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12427719682455063,
+              -0.06367200613021856,
+              0.034158527851104736
+            ],
+            "min_contact_pad_to_button": 0.02107756743194844,
+            "closest_contact_pad": [
+              0.16387073695659637,
+              -0.3854804337024688,
+              0.7902850450015285
+            ],
+            "closest_contact_pad_button": [
+              0.16387073695659637,
+              -0.3854804337024688,
+              0.7692074775695801
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107756743194844
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7994f1b0d265c322da2c5fc31eac37d7d318ffc6647e3eb5f37dd00e41d4c6cd",
+    "visual_seed": 4589820929863254894,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa4b15dc853f478b29c951de3cf95d57d15011a4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_89_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23929791904663403,
+              -0.10065852429815389,
+              1.0461262239025122
+            ],
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+            "initial_z": 0.7565865016304103,
+            "lift_margin": 0.18953972227210192,
+            "gripper_z": 1.0499011924754014,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23486532761878634,
+              -0.10510627536113722,
+              1.0499011924754014
+            ],
+            "object_minus_gripper": [
+              0.0044325914278476874,
+              0.004447751062983327,
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+            "object_to_gripper_xy": 0.006279359544133312,
+            "object_to_gripper_z": -0.00377496857288917,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23929791904663403,
+              -0.12472990817225846,
+              1.0461262239025122
+            ],
+            "finger_b": [
+              0.22820086888862243,
+              -0.10065852429815389,
+              1.0461262239025122
+            ],
+            "finger_midpoint": [
+              0.23374939396762823,
+              -0.11269421623520617,
+              1.0461262239025122
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055485250790058005,
+              0.012035691937052284,
+              0.0
+            ],
+            "finger_gap": 0.026506151056385513,
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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": 0.8247242796108107,
+            "object_to_finger_line_xy": 0.010077711911301385,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04930660254565018,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.601556431616496,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23643162522453692,
+              -0.1000435791539872,
+              1.2415941276927867
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+            "held_position": [
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+              -0.09542740721932634,
+              1.2383818364352965
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00732791043759755,
+            "max_held_gripper_dist": 0.007330873998836522,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032122912574901186,
+            "max_held_gripper_z_dist": 0.0037747068935030104,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08578606077662992,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2411295410313765,
+              -0.11896863292735181,
+              1.2383818364352965
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+              -0.09542740721932634,
+              1.2383818364352965
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+            "held_grasp_midpoint": [
+              0.236453015336444,
+              -0.10719802007333908,
+              1.2383818364352965
+            ],
+            "held_grasp_object_position": [
+              0.2411295410313765,
+              -0.09542740721932634,
+              1.2383818364352965
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+                "beaker_b"
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+                "/World/target_beaker"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
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+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.314330492245413,
+              -0.32098253050136505,
+              0.8470195529240625
+            ],
+            "target_position": [
+              0.3101707869935718,
+              -0.3230335413874278,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004637865180979597,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.185874975051917,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195529240625,
+            "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": 0.07537170269801681,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08616312063829167,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15470618326124347,
+            "release_required_pad_clearance": 0.053081560319145835,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1915527556333594,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00769418478012085,
+            "max_z_decrease": 0.00769418478012085,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510112304448403,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00769418478012085,
+            "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": 0.02115054853290598,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00769418478012085,
+            "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": 0.007694204779501689,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16587071120738978,
+              -0.3792949914932251,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16587071120738978,
+              -0.3792949914932251,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16612218799012546,
+              -0.37869313209636596,
+              0.8075131115304303
+            ],
+            "closest_button": [
+              0.16586033999919886,
+              -0.3792993724346161,
+              0.772418200969696
+            ],
+            "closest_ee_minus_button": [
+              0.00026184799092660027,
+              0.0006062403382501302,
+              0.035094910560734216
+            ],
+            "button_min_z_position": [
+              0.16585366427898404,
+              -0.379299134016037,
+              0.7691146731376648
+            ],
+            "min_active_finger_to_button": 0.14569478371433486,
+            "closest_active_finger": [
+              0.038084566593170166,
+              -0.4402395188808441,
+              0.8104793429374695
+            ],
+            "closest_active_finger_button": [
+              0.1658748537302017,
+              -0.37929904460906977,
+              0.7760864496231079
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12779028713703153,
+              -0.06094047427177435,
+              0.03439289331436157
+            ],
+            "min_contact_pad_to_button": 0.02115054853290598,
+            "closest_contact_pad": [
+              0.16585366427898404,
+              -0.3801027436376807,
+              0.7902499496870458
+            ],
+            "closest_contact_pad_button": [
+              0.16585366427898404,
+              -0.379299134016037,
+              0.7691146731376648
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008036096216437194,
+              0.021135276549380966
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e8c96ccdd98a1a2ccb55a79c80dac81adabbadd858811f9ce7d05588967b9c37",
+    "visual_seed": 5931045861022192171,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6eda11fd2df24a83d424f441ba7e0ed17cf2c51
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_8_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.244560579742606,
+              -0.10465920133483893,
+              1.0469636729293261
+            ],
+            "current_z": 1.0469636729293261,
+            "required_z": 0.8565865579354633,
+            "initial_z": 0.7565865579354634,
+            "lift_margin": 0.19037711499386278,
+            "gripper_z": 1.0505383925937395,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2401869297651752,
+              -0.10913991514046976,
+              1.0505383925937395
+            ],
+            "object_minus_gripper": [
+              0.00437364997743081,
+              0.004480713805630837,
+              -0.0035747196644133616
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+              0.03432530164718628
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+            "closest_contact_pad": [
+              0.16594108939170837,
+              -0.38221461125156564,
+              0.7901095411464696
+            ],
+            "closest_contact_pad_button": [
+              0.16594108939170837,
+              -0.37992990016937256,
+              0.7690176367759705
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022847110821930805,
+              0.021091904370499126
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4350fdbae5bbd3f9a3358df7aa475e68c0ffee99fb7f181fdb4df728c0f69bc7",
+    "visual_seed": 8625422716985489931,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..098cdd56f72e6a5bcd7e34a1753966544024bfa0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_90_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              -0.10026197742781993,
+              1.0469553531738867
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+            "gripper_z": 1.0505947907421707,
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+            "gripper_position": [
+              0.23559568769169348,
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+              1.0505947907421707
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+              0.004443484594686936,
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+            "object_to_gripper_z": -0.0036394375682839986,
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+              -0.12421640759612904,
+              1.0469553531738867
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+              1.0469553531738867
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+              -0.11223919251197448,
+              1.0469553531738867
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05032888808210277,
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+            "stable_success_frames": 202,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
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+          }
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.004335750941161465,
+            "held_grasp_line_xy_max_dist": 0.04748307481408119,
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+            "held_grasp_min_top_clearance": 0.013560237362980843
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31590039157027655,
+              -0.3261467218213272,
+              0.8470179287892956
+            ],
+            "target_position": [
+              0.3126530529542707,
+              -0.327542803328647,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003534720874706101,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1842886586999632,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470179287892956,
+            "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": 0.0753917238625665,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08621475971766161,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.153124020327154,
+            "release_required_pad_clearance": 0.05310737985883081,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2347699693444043,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007713913917541504,
+            "max_z_decrease": 0.007713913917541504,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035151300789912174,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007713913917541504,
+            "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": 0.02113757340590685,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007713913917541504,
+            "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": 0.007713934210326899,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1683529764413833,
+              -0.3838042616844177,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1683529764413833,
+              -0.3838042616844177,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1692337516920879,
+              -0.3844835057133035,
+              0.8081772841514558
+            ],
+            "closest_button": [
+              0.16834665834903711,
+              -0.38381317257881165,
+              0.7730435729026794
+            ],
+            "closest_ee_minus_button": [
+              0.0008870933430507877,
+              -0.0006703331344918295,
+              0.0351337112487764
+            ],
+            "button_min_z_position": [
+              0.16833548247814178,
+              -0.38380691409111023,
+              0.7690949440002441
+            ],
+            "min_active_finger_to_button": 0.14525498564748401,
+            "closest_active_finger": [
+              0.027798764407634735,
+              -0.3707640469074249,
+              0.8106082677841187
+            ],
+            "closest_active_finger_button": [
+              0.1683547645807266,
+              -0.3838077187538147,
+              0.7763608694076538
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14055600017309186,
+              0.01304367184638977,
+              0.034247398376464844
+            ],
+            "min_contact_pad_to_button": 0.02113757340590685,
+            "closest_contact_pad": [
+              0.16833548247814178,
+              -0.3854418271403422,
+              0.7901691953229258
+            ],
+            "closest_contact_pad_button": [
+              0.16833548247814178,
+              -0.38380691409111023,
+              0.7690949440002441
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016349130492319675,
+              0.021074251322681703
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e932bb7ecec58fa8f912009cb1937018f5de60107bbca61cedfd5abac3c4380d",
+    "visual_seed": 4760406821820638538,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2b33b0ae336bc4fd57e633bb9a71c2329de810d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_91_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24351602224539873,
+              -0.09609393100402507,
+              1.0470488802343019
+            ],
+            "current_z": 1.0470488802343019,
+            "required_z": 0.8565866014068618,
+            "initial_z": 0.7565866014068618,
+            "lift_margin": 0.19046227882744005,
+            "gripper_z": 1.0507634226332099,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23909776552132866,
+              -0.10060784790567917,
+              1.0507634226332099
+            ],
+            "object_minus_gripper": [
+              0.004418256724070063,
+              0.004513916901654105,
+              -0.003714542398908005
+            ],
+            "object_to_gripper_xy": 0.006316362740915765,
+            "object_to_gripper_z": -0.003714542398908005,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24351602224539873,
+              -0.11999713626189279,
+              1.0470488802343019
+            ],
+            "finger_b": [
+              0.23217835563855796,
+              -0.09609393100402507,
+              1.0470488802343019
+            ],
+            "finger_midpoint": [
+              0.23784718894197834,
+              -0.10804553363295893,
+              1.0470488802343019
+            ],
+            "object_minus_finger_midpoint": [
+              0.005668833303420384,
+              0.011951602628933869,
+              0.0
+            ],
+            "finger_gap": 0.02645573483552531,
+            "fingertip_max_gap": 0.09171267014882509,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013227867417762662,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470488802343019,
+            "object_top_z": 1.092455443426803,
+            "finger_top_clearance": 0.04540656319250114,
+            "fingertip_min_top_clearance": 0.013621968957750308,
+            "object_projection_between_fingers": 0.8163429068917706,
+            "object_to_finger_line_xy": 0.010243774128121134,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048356335074412546,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5948250033116798,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
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+        "target": "heat_button",
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+        "ordinary_object_physical_only": true
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+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
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+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c2f07a0238d96b0694df62eb17737aed776ddfaeb24a84348255ef93830afe86",
+    "visual_seed": 4154243106754340140,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      1272775230356696008,
+      6598834107714139108,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6498911d51c7e8fadb300676b8f478cb99294dea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_92_success.json
@@ -0,0 +1,926 @@
+{
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+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+              "allowed_objects": [
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+                "Robotiq2F85",
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+                "dummy_base_prismatic_x_joint",
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+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
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+                "ur16e",
+                "ur5e",
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+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "base_link",
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+                "workbench"
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+            },
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
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+          "metrics": {
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+          "failure_code": null,
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+          "safety": {
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+              "robot_prim_substrings": [
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
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+                "link0",
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+            },
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+            "forbidden": [],
+            "disturbances": [],
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+      "skill": "place",
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+      "reason": "executed",
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
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+                "heater_platform"
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+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007629513740539551,
+            "max_z_decrease": 0.007629513740539551,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516711342597972,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007629513740539551,
+            "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": 0.02110068267640612,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007629513740539551,
+            "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": 0.007629538999332075,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16264274716377253,
+              -0.38106235861778254,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16264274716377253,
+              -0.38106235861778254,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16381983763008914,
+              -0.3798916619645865,
+              0.8080277734134873
+            ],
+            "closest_button": [
+              0.16263793408870694,
+              -0.38107174634933466,
+              0.7729003429412842
+            ],
+            "closest_ee_minus_button": [
+              0.001181903541382201,
+              0.001180084384748148,
+              0.035127430472203125
+            ],
+            "button_min_z_position": [
+              0.16262339055538175,
+              -0.38106563687324524,
+              0.7691793441772461
+            ],
+            "min_active_finger_to_button": 0.1446270312875101,
+            "closest_active_finger": [
+              0.03627864271402359,
+              -0.44251465797424316,
+              0.8110061883926392
+            ],
+            "closest_active_finger_button": [
+              0.16264861822128293,
+              -0.38106346130371094,
+              0.7767810821533203
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12636997550725934,
+              -0.06145119667053223,
+              0.03422510623931885
+            ],
+            "min_contact_pad_to_button": 0.02110068267640612,
+            "closest_contact_pad": [
+              0.16262339055538175,
+              -0.38115744698816934,
+              0.7902798271175293
+            ],
+            "closest_contact_pad_button": [
+              0.16262339055538175,
+              -0.38106563687324524,
+              0.7691793441772461
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -9.181011492409574e-05,
+              0.021100482940283216
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bfec3ef275f9502f9d7bc7f7cc64fb5617cf86d78f6035133ac9fb902248b181",
+    "visual_seed": 7880745225405324669,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d81967fab8ac231090f1c9757dbb53c3aa678f72
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_93_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2389023856827602,
+              -0.10229932891595343,
+              1.0484441486210405
+            ],
+            "current_z": 1.0484441486210405,
+            "required_z": 0.8565865878086186,
+            "initial_z": 0.7565865878086186,
+            "lift_margin": 0.1918575608124219,
+            "gripper_z": 1.0520034633848585,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23472678756164123,
+              -0.10658543362409809,
+              1.0520034633848585
+            ],
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+              0.0041755981211189785,
+              0.004286104708144653,
+              -0.003559314763817989
+            ],
+            "object_to_gripper_xy": 0.005983837668108327,
+            "object_to_gripper_z": -0.003559314763817989,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2389023856827602,
+              -0.12625382319603234,
+              1.0484441486210405
+            ],
+            "finger_b": [
+              0.22811837943765456,
+              -0.10229932891595343,
+              1.0484441486210405
+            ],
+            "finger_midpoint": [
+              0.2335103825602074,
+              -0.1142765760559929,
+              1.0484441486210405
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053920031225528076,
+              0.011977247140039463,
+              0.0
+            ],
+            "finger_gap": 0.026269994040897894,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013134997020448947,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484441486210405,
+            "object_top_z": 1.0941289995003907,
+            "finger_top_clearance": 0.04568485087935015,
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+            "object_projection_between_fingers": 0.8314843216881591,
+            "object_to_finger_line_xy": 0.009833478283723615,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04871847719182,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.369078230916601,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23687165028641785,
+              -0.10155955602492814,
+              1.245856941875092
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+            "held_position": [
+              0.24131600890344831,
+              -0.09713200945425265,
+              1.2428503063756533
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0069566765900649806,
+            "max_held_gripper_dist": 0.006960778389843767,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030066354994386923,
+            "max_held_gripper_z_dist": 0.003560427161440227,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08607294285907896,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24131600890344831,
+              -0.12058581099407438,
+              1.2428503063756533
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+            "held_grasp_finger_b": [
+              0.23224148213922402,
+              -0.09713200945425265,
+              1.2428503063756533
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+              0.23677874552133615,
+              -0.10885891022416352,
+              1.2428503063756533
+            ],
+            "held_grasp_object_position": [
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+              -0.09713200945425265,
+              1.2428503063756533
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+            "held_grasp_finger_gap": 0.025148118074002416,
+            "held_grasp_max_gap": 0.12496597826480865,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.022810738076651314,
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+            "held_grasp_z_skew_max": 0.08,
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+                "/World/target_beaker"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3106798288653009,
+              -0.32099244840407837,
+              0.8470200264750047
+            ],
+            "target_position": [
+              0.30618160274257195,
+              -0.3229571959178313,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004908591553999909,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18486999035152532,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470200264750047,
+            "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": 0.07579066136843356,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08699823896070556,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15277725434557432,
+            "release_required_pad_clearance": 0.05349911948035278,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0065423467366674,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007544159889221191,
+            "max_z_decrease": 0.007544159889221191,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514646563428502,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007544159889221191,
+            "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": 0.0211771737131943,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007544159889221191,
+            "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": 0.007544177499931436,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16188152134418488,
+              -0.3792186677455902,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16188152134418488,
+              -0.3792186677455902,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16238796139756698,
+              -0.3799882786236332,
+              0.8081166691557553
+            ],
+            "closest_button": [
+              0.1618747562170029,
+              -0.37922778725624084,
+              0.7729821801185608
+            ],
+            "closest_ee_minus_button": [
+              0.0005132051805640803,
+              -0.0007604913673923686,
+              0.035134489037194516
+            ],
+            "button_min_z_position": [
+              0.1618654578924179,
+              -0.37922143936157227,
+              0.7692646980285645
+            ],
+            "min_active_finger_to_button": 0.14559229263953138,
+            "closest_active_finger": [
+              0.021192319691181183,
+              -0.3640230596065521,
+              0.8104893565177917
+            ],
+            "closest_active_finger_button": [
+              0.16188311576843264,
+              -0.3792212307453156,
+              0.776251494884491
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14069079607725146,
+              0.015198171138763483,
+              0.03423786163330078
+            ],
+            "min_contact_pad_to_button": 0.0211771737131943,
+            "closest_contact_pad": [
+              0.1618654578924179,
+              -0.38120328599330083,
+              0.7903489331440984
+            ],
+            "closest_contact_pad_button": [
+              0.1618654578924179,
+              -0.37922143936157227,
+              0.7692646980285645
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019818466317285677,
+              0.021084235115533922
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a549572edba628b025af59fa1ec67d5e8f9940e934215cb7fca4fde4e58cb4ad",
+    "visual_seed": 7168942323420841302,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a20697abbb16e34c907fc48ed7a370edf1fc742
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_94_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23954470447632237,
+              -0.09545638507952452,
+              1.0453160684419027
+            ],
+            "current_z": 1.0453160684419027,
+            "required_z": 0.8565865778183784,
+            "initial_z": 0.7565865778183785,
+            "lift_margin": 0.1887294906235243,
+            "gripper_z": 1.0490435995382172,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23516569569020476,
+              -0.09996144480436557,
+              1.0490435995382172
+            ],
+            "object_minus_gripper": [
+              0.004379008786117605,
+              0.004505059724841054,
+              -0.003727531096314518
+            ],
+            "object_to_gripper_xy": 0.006282617374413321,
+            "object_to_gripper_z": -0.003727531096314518,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23954470447632237,
+              -0.11933760292379361,
+              1.0453160684419027
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+              0.8104116320610046
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+            "closest_active_finger_minus_button": [
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+              -0.06223845481872564,
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+            "closest_contact_pad": [
+              0.16601522266864777,
+              -0.3773409724235534,
+              0.7903553277327445
+            ],
+            "closest_contact_pad_button": [
+              0.16601522266864777,
+              -0.3773409724235534,
+              0.769268810749054
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021086516983690573
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fd9d7094d75348f4aa15690d0bb69d31cd3f34fee69dc8257f4024200aab1819",
+    "visual_seed": 6588410056390716374,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fecd78c1c67f77f6026bf0aa14016fe4aa7f0a77
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_95_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2426700603760641,
+              -0.10098471513703343,
+              1.0464299139768463
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+            "gripper_position": [
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+              -0.10551741615459688,
+              1.0502252953678273
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+              0.004532701017563451,
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+            "object_to_gripper_z": -0.003795381390981012,
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+              0.2426700603760641,
+              -0.12520384872977672,
+              1.0464299139768463
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+              1.0464299139768463
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+              -0.11309428193340507,
+              1.0464299139768463
+            ],
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+              0.012109566796371637,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "max_held_gripper_z_dist": 0.003819086203914468,
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+            "held_motion_ok": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.11474160626606489
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+            "held_grasp_object_to_finger_line_xy": 0.0046289468684125035,
+            "held_grasp_line_xy_max_dist": 0.047482821494340896,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3099861732315962,
+              -0.3229933345965875,
+              0.8470196167453575
+            ],
+            "target_position": [
+              0.30533586938889096,
+              -0.3250075899378224,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005067795419033075,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18282377195244,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196167453575,
+            "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": 0.07591173585274896,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08869876561049204,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15057280191729996,
+            "release_required_pad_clearance": 0.054349382805246024,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.7213475152332576,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007672607898712158,
+            "max_z_decrease": 0.007672607898712158,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035157615124369775,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007672607898712158,
+            "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": 0.021177261752336633,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007672607898712158,
+            "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": 0.007672630768444307,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16103579103946689,
+              -0.3812690377235412,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16103579103946689,
+              -0.3812690377235412,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16247020932204168,
+              -0.3813782264821545,
+              0.8047238989023319
+            ],
+            "closest_button": [
+              0.1610177457332611,
+              -0.38127282261848444,
+              0.7695964574813843
+            ],
+            "closest_ee_minus_button": [
+              0.001452463588780567,
+              -0.00010540386367008381,
+              0.03512744142094759
+            ],
+            "button_min_z_position": [
+              0.16101746261119843,
+              -0.38127291202545166,
+              0.7691362500190735
+            ],
+            "min_active_finger_to_button": 0.1444122007238912,
+            "closest_active_finger": [
+              0.021959230303764343,
+              -0.363128125667572,
+              0.81049644947052
+            ],
+            "closest_active_finger_button": [
+              0.1610383540391922,
+              -0.38127297163009644,
+              0.7761068344116211
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13907912373542786,
+              0.018144845962524414,
+              0.034389615058898926
+            ],
+            "min_contact_pad_to_button": 0.021177261752336633,
+            "closest_contact_pad": [
+              0.16101746261119843,
+              -0.3827565784047708,
+              0.7902614754475005
+            ],
+            "closest_contact_pad_button": [
+              0.16101746261119843,
+              -0.38127291202545166,
+              0.7691362500190735
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014836663793191263,
+              0.021125225428426986
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5708bd6b581c7d410c6bcd86d65d85f301c580cf2667870fd990fc4603538996",
+    "visual_seed": 5172374144663115236,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f765213c1c0c0f9a85ea4fb1b08fa182f7008a8c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_96_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2420214974233067,
+              -0.09686200724083464,
+              1.044550684970044
+            ],
+            "current_z": 1.044550684970044,
+            "required_z": 0.8565865597301997,
+            "initial_z": 0.7565865597301997,
+            "lift_margin": 0.1879641252398444,
+            "gripper_z": 1.0482880132460746,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2375560300570813,
+              -0.10139054346434988,
+              1.0482880132460746
+            ],
+            "object_minus_gripper": [
+              0.004465467366225384,
+              0.004528536223515234,
+              -0.0037373282760304605
+            ],
+            "object_to_gripper_xy": 0.006359877288636431,
+            "object_to_gripper_z": -0.0037373282760304605,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2420214974233067,
+              -0.12084741675453826,
+              1.044550684970044
+            ],
+            "finger_b": [
+              0.23070825187965283,
+              -0.09686200724083464,
+              1.044550684970044
+            ],
+            "finger_midpoint": [
+              0.23636487465147976,
+              -0.10885471199768645,
+              1.044550684970044
+            ],
+            "object_minus_finger_midpoint": [
+              0.005656622771826936,
+              0.01199270475685181,
+              0.0
+            ],
+            "finger_gap": 0.026519603961429522,
+            "fingertip_max_gap": 0.09150142938425321,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013259801980714761,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.044550684970044,
+            "object_top_z": 1.0899018655991854,
+            "finger_top_clearance": 0.04535118062914134,
+            "fingertip_min_top_clearance": 0.013605354188742435,
+            "object_projection_between_fingers": 0.8180130032194495,
+            "object_to_finger_line_xy": 0.01023215986514277,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048250714692126606,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5052881259227617,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 201,
+            "max_stable_success_frames": 201,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
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+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "324cd2b9c8e9b5dc9e56a08ab367faa07373d9a33325ad7c3be0393582d1325f",
+    "visual_seed": 6111642685315349011,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      1272775230356696008,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..08c3e64e0612b84419e02adacd184c728d45c2f8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_97_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.004556596438505353,
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+              1.0
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+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "passed": true,
+            "source_missing": false,
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+            "release_gap_missing_size": false,
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+            "release_required_pad_clearance": 0.054009585372110966,
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+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 3.030598325477268,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007522463798522949,
+            "max_z_decrease": 0.007522463798522949,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512217885841692,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007522463798522949,
+            "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": 0.021129147972620728,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007522463798522949,
+            "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": 0.007522481586670113,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16345137357711792,
+              -0.3781194984912873,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16345137357711792,
+              -0.3781194984912873,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16332375109708702,
+              -0.3772089145084978,
+              0.8078346781935657
+            ],
+            "closest_button": [
+              0.16344177722930908,
+              -0.37812429666519165,
+              0.7727246284484863
+            ],
+            "closest_ee_minus_button": [
+              -0.00011802613222205993,
+              0.0009153821566938447,
+              0.035110049745079364
+            ],
+            "button_min_z_position": [
+              0.1634354442358017,
+              -0.37812322378158575,
+              0.7692863941192627
+            ],
+            "min_active_finger_to_button": 0.14588643567222154,
+            "closest_active_finger": [
+              0.03521380573511124,
+              -0.43861228227615356,
+              0.8105979561805725
+            ],
+            "closest_active_finger_button": [
+              0.16345448791980743,
+              -0.37812212109565735,
+              0.7762742042541504
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1282406821846962,
+              -0.060490161180496216,
+              0.03432375192642212
+            ],
+            "min_contact_pad_to_button": 0.021129147972620728,
+            "closest_contact_pad": [
+              0.1634354442358017,
+              -0.37864978323734055,
+              0.7904089798792604
+            ],
+            "closest_contact_pad_button": [
+              0.1634354442358017,
+              -0.37812322378158575,
+              0.7692863941192627
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005265594557548048,
+              0.021122585759997703
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "51a8e045a865194a4365e40890336a42d5fafa11f786ae514c342836ba6528d0",
+    "visual_seed": 8288862280456766032,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..774f65547aee906ebb8a8e4e471ddda3d38ccc02
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_98_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24041551687070542,
+              -0.09620418135918479,
+              1.0482596655138132
+            ],
+            "current_z": 1.0482596655138132,
+            "required_z": 0.856586654876265,
+            "initial_z": 0.756586654876265,
+            "lift_margin": 0.19167301063754827,
+            "gripper_z": 1.0519348467513268,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2360860175372474,
+              -0.10065124046515062,
+              1.0519348467513268
+            ],
+            "object_minus_gripper": [
+              0.004329499333458026,
+              0.004447059105965823,
+              -0.003675181237513536
+            ],
+            "object_to_gripper_xy": 0.00620652069765074,
+            "object_to_gripper_z": -0.003675181237513536,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24041551687070542,
+              -0.12011110469772233,
+              1.0482596655138132
+            ],
+            "finger_b": [
+              0.22922011399664086,
+              -0.09620418135918479,
+              1.0482596655138132
+            ],
+            "finger_midpoint": [
+              0.23481781543367314,
+              -0.10815764302845357,
+              1.0482596655138132
+            ],
+            "object_minus_finger_midpoint": [
+              0.005597701437032282,
+              0.011953461669268778,
+              0.0
+            ],
+            "finger_gap": 0.026398447473806562,
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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": 1.0482596655138132,
+            "object_top_z": 1.0935913761046017,
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+            "object_projection_between_fingers": 0.8201449316926324,
+            "object_to_finger_line_xy": 0.010138764354224741,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048203898787023414,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4488487041389218,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23565646256870262,
+              -0.09712744204572363,
+              1.242954678373569
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+            "held_position": [
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+              -0.09255576008341507,
+              1.2398420201403464
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007214123100612314,
+            "max_held_gripper_dist": 0.00721723966579251,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031126582332225983,
+            "max_held_gripper_z_dist": 0.003676048918917596,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08542248805147537,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              -0.11605214409247333,
+              1.2398420201403464
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+              1.2398420201403464
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+              0.2356439237026712,
+              -0.1043039520879442,
+              1.2398420201403464
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+            "held_grasp_object_position": [
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+              -0.09255576008341507,
+              1.2398420201403464
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+            "held_grasp_finger_gap": 0.02526586514970259,
+            "held_grasp_max_gap": 0.12496629118919372,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02274698883348783,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.051784449295984275,
+              -0.9885780722947172,
+              -0.14153362070254769
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043659415365019305,
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+                "beaker_b"
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+                "/World/target_beaker"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
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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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
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+                "wheel",
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+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3137542516523779,
+              -0.3259936906540848,
+              0.8470196462649158
+            ],
+            "target_position": [
+              0.3068202767326128,
+              -0.32934140005724727,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007699816000136238,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1875017100739464,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196462649158,
+            "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": 0.07571322836408247,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08605238503832012,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15564683732050086,
+            "release_required_pad_clearance": 0.05302619251916006,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0835273951986795,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007964253425598145,
+            "max_z_decrease": 0.007964253425598145,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518608534662196,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007964253425598145,
+            "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": 0.021139643665698277,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007964253425598145,
+            "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": 0.007964277741529302,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16252020001411438,
+              -0.38560286164283747,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16252020001411438,
+              -0.38560286164283747,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16434662990406781,
+              -0.38608865483333016,
+              0.8077830389634331
+            ],
+            "closest_button": [
+              0.1625133901834488,
+              -0.3856119513511657,
+              0.7726479768753052
+            ],
+            "closest_ee_minus_button": [
+              0.0018332397206190232,
+              -0.00047670348216444225,
+              0.03513506208812789
+            ],
+            "button_min_z_position": [
+              0.16250066459178925,
+              -0.38560524582862854,
+              0.7688446044921875
+            ],
+            "min_active_finger_to_button": 0.1443486047863979,
+            "closest_active_finger": [
+              0.023077882826328278,
+              -0.3707943856716156,
+              0.8107139468193054
+            ],
+            "closest_active_finger_button": [
+              0.1625221073627472,
+              -0.3856060206890106,
+              0.7764729857444763
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13944422453641891,
+              0.01481163501739502,
+              0.0342409610748291
+            ],
+            "min_contact_pad_to_button": 0.021139643665698277,
+            "closest_contact_pad": [
+              0.16250066459178925,
+              -0.3872029978933534,
+              0.7899237819584067
+            ],
+            "closest_contact_pad_button": [
+              0.16250066459178925,
+              -0.38560524582862854,
+              0.7688446044921875
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015977520647248444,
+              0.021079177466219234
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e3e29c1c6d589ddd19d6fc74def809d6689dbdbe53a73385096543c2b40fe707",
+    "visual_seed": 6256274956389480515,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dc36908c55fc3d987ad55435cbd60dd4327cc40
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_99_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.241456852356535,
+              -0.09907773638463174,
+              1.0442532386248937
+            ],
+            "current_z": 1.0442532386248937,
+            "required_z": 0.8565865720246736,
+            "initial_z": 0.7565865720246736,
+            "lift_margin": 0.18766666660022013,
+            "gripper_z": 1.047856116585769,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2370608781398659,
+              -0.10355661485369137,
+              1.047856116585769
+            ],
+            "object_minus_gripper": [
+              0.004395974216669096,
+              0.00447887846905963,
+              -0.003602877960875217
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+            "object_to_gripper_xy": 0.006275742318979119,
+            "object_to_gripper_z": -0.003602877960875217,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.241456852356535,
+              -0.12302765910459842,
+              1.0442532386248937
+            ],
+            "finger_b": [
+              0.23019152651264044,
+              -0.09907773638463174,
+              1.0442532386248937
+            ],
+            "finger_midpoint": [
+              0.23582418943458772,
+              -0.11105269774461508,
+              1.0442532386248937
+            ],
+            "object_minus_finger_midpoint": [
+              0.005632662921947279,
+              0.011974961359983341,
+              0.0
+            ],
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+            "closest_contact_pad": [
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+              -0.38303489596998913,
+              0.7901339955019472
+            ],
+            "closest_contact_pad_button": [
+              0.16565963625907898,
+              -0.38101825118064875,
+              0.7690409421920776
+            ],
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+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020166447893403827,
+              0.021093053309869547
+            ]
+          },
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4283508074911090697,
+    "physical_seed": 1839996099705671880,
+    "layout_id": "layout_00024",
+    "step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "workflow_spec_digest": "fd57bd759a08f0d9fbc5567ce0824514cbbe8a5319146717901612cf3a2f2cab",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "170581bd199d74279a1031b916b7c02b4bee4559a6c4b77672bcf7b78998f849",
+    "visual_seed": 2020406875563225819,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      624659677329847726,
+      1272775230356696008,
+      6598834107714139108,
+      1327563167362417537
+    ],
+    "runtime_workflow_digest": "89ea018c5917cf5a5a180ce0db4f696cc6b83c190dafe74a48e450136cb54d1a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bd5e404fa0406d2cbf992373c8410dd8897c875
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00024/results/episode_9_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              -0.09742458153312518,
+              1.0465919274444697
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+              0.004430898080054341,
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+              1.0465919274444697
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+              -0.10955919049973165,
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 204,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "max_held_gripper_z_dist": 0.0041099329038789545,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.0050263573823592506,
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+            "held_grasp_min_top_clearance": 0.013560232892632484
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
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+}
\ No newline at end of file
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1fbc4030fad4499cfcf43ceac92ac4b3c9e3d62b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
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_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[-0.14292287446993857,-0.3923830366375398,0.71338606911949],"aabb_xy":[[-0.2069228708972605,-0.43955266045963626],[-0.07892287804261669,-0.3452134128154434]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[0.1327257290524927,-2.151175847130158,0.71338606911949],"aabb_xy":[[0.12195275513112494,-2.186175845349197],[0.1434987029738605,-2.116175848911119]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[-0.5977337413640214,0.21502502157608117,0.71338606911949],"aabb_xy":[[-0.6159395650252691,0.20399962099408953],[-0.5795279177027738,0.2260504221580728]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_26","position":[-0.41645597590335487,1.5354700682341185,0.71338606911949],"aabb_xy":[[-0.45145597579937374,1.5270958327221784],[-0.381455976007336,1.5438443037460585]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_27","position":[-0.060951921803989006,-1.032025569261784,0.71338606911949],"aabb_xy":[[-0.12495192039056147,-1.0790325326612924],[0.003048076782583453,-0.985018605862275]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_28","position":[-0.328698029151923,-1.6201292750838274,0.71338606911949],"aabb_xy":[[-0.3936980301524235,-1.6709156402385024],[-0.26369802815142246,-1.5693429099291525]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_29","position":[0.6653270192084197,1.5705088864810999,0.71338606911949],"aabb_xy":[[0.6428305977745558,1.5480088866743524],[0.687823440642284,1.5930088862878473]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_30","position":[-0.4269113516747435,-0.42561204214881254,0.71338606911949],"aabb_xy":[[-0.5069113488343188,-0.43715964310662964],[-0.3469113545151682,-0.41406444119099556]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_31","position":[0.40508677506924395,1.3421006529195023,0.71338606911949],"aabb_xy":[[0.3976743195278555,1.3362494424978741],[0.41249923061063243,1.34795186334113]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_32","position":[0.16853225484289636,-1.8848056375017315,0.71338606911949],"aabb_xy":[[0.10453225262248933,-1.9291787216270198],[0.23253225706330338,-1.8404325533764432]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_33","position":[0.34458867438165597,-1.5048540539088862,0.71338606911949],"aabb_xy":[[0.2805886711630181,-1.5515771658078943],[0.4085886776002938,-1.4581309420098776]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7083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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a8387aac51ed9c3ed192bf7c08b61b053d641603
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_hte_00025
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Shake the current contents of
+    beaker b once. Place beaker b on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00025
+  reproducibility:
+    enabled: true
+    layout_id: layout_00025
+    action_seed: 8946113069649801365
+    step_seeds:
+    - 3535246988300564580
+    - 3930001998081723350
+    - 4554555277898534358
+    - 6473832068464934172
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.3297
+      - 0.3297
+      'y':
+      - -0.0433
+      - -0.0433
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2638
+      - 0.2638
+      'y':
+      - 0.3457
+      - 0.3457
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3424
+      - 0.3424
+      'y':
+      - 0.1013
+      - 0.1013
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2692
+      - 0.2692
+      'y':
+      - -0.3882
+      - -0.3882
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d73c17b4a12d6e51c9d997f49f9196aac52b59f2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_0_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2905053165542929,
+              0.3472380794480887,
+              1.0473000616840202
+            ],
+            "current_z": 1.0473000616840202,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1907134946708099,
+            "gripper_z": 1.0473230902477249,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2845632322763051,
+              0.34199091519318714,
+              1.0473230902477249
+            ],
+            "object_minus_gripper": [
+              0.005942084277987814,
+              0.005247164254901571,
+              -2.302856370461903e-05
+            ],
+            "object_to_gripper_xy": 0.007927237746190453,
+            "object_to_gripper_z": -2.302856370461903e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2905053165542929,
+              0.32209936280427043,
+              1.0473000616840202
+            ],
+            "finger_b": [
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+              0.3472380794480887,
+              1.0473000616840202
+            ],
+            "finger_midpoint": [
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+              0.33466872112617957,
+              1.0473000616840202
+            ],
+            "object_minus_finger_midpoint": [
+              0.006143733980597976,
+              0.012569358321909141,
+              0.0
+            ],
+            "finger_gap": 0.027981010406981435,
+            "fingertip_max_gap": 0.09345101523709123,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013990505203490718,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473000616840202,
+            "object_top_z": 1.0936342253799036,
+            "finger_top_clearance": 0.04633416369588339,
+            "fingertip_min_top_clearance": 0.013900249108765016,
+            "object_projection_between_fingers": 0.8071596056732135,
+            "object_to_finger_line_xy": 0.01103931455132266,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04922550761854562,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1556382531586615,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.34609118225355334,
+              1.2369965590164056
+            ],
+            "held_position": [
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+              0.3510606848337641,
+              1.236874804145691
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008109187957547614,
+            "max_held_gripper_dist": 0.008112222852050393,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00012175487071464097,
+            "max_held_gripper_z_dist": 0.0003190366906189457,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08842938556356,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.32514811557486456,
+              1.236874804145691
+            ],
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+            ],
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+            ],
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+              0.3510606848337641,
+              1.236874804145691
+            ],
+            "held_grasp_finger_gap": 0.028183336402081913,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025387673060202627,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.044742658792387396,
+              -0.9988808303087441,
+              0.015335622775171087
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004960451396795848,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03201049279914966,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.33180386504669157,
+              -0.3842316533289553,
+              0.8470194556338893
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+              0.8084375599031817
+            ],
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+            "xy_dist": 0.008594233987917177,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1888764881917528,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194556338893,
+            "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": 0.07556182553042774,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08640586598345439,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15725270462843433,
+            "release_required_pad_clearance": 0.053202932991727195,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4281791675278346,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00870901346206665,
+            "max_z_decrease": 0.00870901346206665,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0349986239614687,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00870901346206665,
+            "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": 0.021033834617275954,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00870901346206665,
+            "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": 0.008709198635540554,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17933741211891174,
+              -0.4431709945201874,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17933741211891174,
+              -0.4431709945201874,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17991221408537483,
+              -0.4428268241851027,
+              0.8030929158652594
+            ],
+            "closest_button": [
+              0.1793619245290756,
+              -0.44311976432800293,
+              0.768099844455719
+            ],
+            "closest_ee_minus_button": [
+              0.0005502895562992383,
+              0.000292940142900211,
+              0.034993071409540444
+            ],
+            "button_min_z_position": [
+              0.1793619245290756,
+              -0.44311976432800293,
+              0.768099844455719
+            ],
+            "min_active_finger_to_button": 0.14526956099090202,
+            "closest_active_finger": [
+              0.05243036895990372,
+              -0.5048441886901855,
+              0.8105677962303162
+            ],
+            "closest_active_finger_button": [
+              0.1793420165777206,
+              -0.4431725442409515,
+              0.776023805141449
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12691164761781687,
+              -0.061671644449234064,
+              0.03454399108886719
+            ],
+            "min_contact_pad_to_button": 0.021033834617275954,
+            "closest_contact_pad": [
+              0.1793619245290756,
+              -0.4441007479049034,
+              0.7891107908867765
+            ],
+            "closest_contact_pad_button": [
+              0.1793619245290756,
+              -0.44311976432800293,
+              0.768099844455719
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009809835769004627,
+              0.021010946431057498
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f77bc1cd65aec39541b0fce32574148e5a6ec847627988839368ca64972d39ee",
+    "visual_seed": 1746184822839643516,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..150fc95a71994d4f9904627f1247a2a5356c347b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_100_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2852437494598875,
+              0.3459746428501935,
+              1.0489138152069375
+            ],
+            "current_z": 1.0489138152069375,
+            "required_z": 0.8565865934766628,
+            "initial_z": 0.7565865934766628,
+            "lift_margin": 0.19232722173027472,
+            "gripper_z": 1.0489948817860744,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2795928432357191,
+              0.34082862628973165,
+              1.0489948817860744
+            ],
+            "object_minus_gripper": [
+              0.005650906224168417,
+              0.005146016560461875,
+              -8.10665791368681e-05
+            ],
+            "object_to_gripper_xy": 0.0076429200960688596,
+            "object_to_gripper_z": -8.10665791368681e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2852437494598875,
+              0.3211159757040345,
+              1.0489138152069375
+            ],
+            "finger_b": [
+              0.2729989460605484,
+              0.3459746428501935,
+              1.0489138152069375
+            ],
+            "finger_midpoint": [
+              0.27912134776021796,
+              0.333545309277114,
+              1.0489138152069375
+            ],
+            "object_minus_finger_midpoint": [
+              0.006122401699669544,
+              0.012429333573079515,
+              0.0
+            ],
+            "finger_gap": 0.027710801911384527,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013855400955692264,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489138152069375,
+            "object_top_z": 1.094522002681769,
+            "finger_top_clearance": 0.04560818747483153,
+            "fingertip_min_top_clearance": 0.013682456242449492,
+            "object_projection_between_fingers": 0.8047435246445168,
+            "object_to_finger_line_xy": 0.010984506798025014,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04799701330380947,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.31357749332739526,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2281bc8ba248820d5a81d8a2baa250c372eba72c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_101_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.3528374590249693,
+              1.051203981607704
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+              1.0506661360969143
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+              0.005004635699647264,
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+            "object_to_gripper_z": 0.0005378455107896141,
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+              0.32825635659749497,
+              1.051203981607704
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+              0.3528374590249693,
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+              0.34054690781123215,
+              1.051203981607704
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+              0.012290551213737178,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
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+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
+            },
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+          }
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.35164621906520915,
+              1.239583943077072
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+              0.3561929364665963,
+              1.2400337637494305
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+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.00044982067235843637,
+            "max_held_gripper_z_dist": 0.0005485913775218343,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_min_pad_clearance": 0.1557933987828367,
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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_max_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
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+                "wheel",
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+            },
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+            "failed_keys": []
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+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008748948574066162,
+            "max_z_decrease": 0.008748948574066162,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502956643403705,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008748948574066162,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020954470584770415,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008748948574066162,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008749165666450887,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1761969029903412,
+              -0.43949028849601746,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1761969029903412,
+              -0.43949028849601746,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17459993745293934,
+              -0.4409171187981828,
+              0.8033919637687799
+            ],
+            "closest_button": [
+              0.17620618641376495,
+              -0.43945184350013733,
+              0.7684299349784851
+            ],
+            "closest_ee_minus_button": [
+              -0.001606248960825618,
+              -0.0014652752980454653,
+              0.03496202879029475
+            ],
+            "button_min_z_position": [
+              0.17623566091060638,
+              -0.43944236636161804,
+              0.7680599093437195
+            ],
+            "min_active_finger_to_button": 0.1471530218428264,
+            "closest_active_finger": [
+              0.033603839576244354,
+              -0.4273342490196228,
+              0.8105981945991516
+            ],
+            "closest_active_finger_button": [
+              0.17619718611240387,
+              -0.43949237465858454,
+              0.7763442993164062
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14259334653615952,
+              0.012158125638961736,
+              0.03425389528274536
+            ],
+            "min_contact_pad_to_button": 0.020954470584770415,
+            "closest_contact_pad": [
+              0.17623566091060638,
+              -0.4418580431701933,
+              0.7888746719665437
+            ],
+            "closest_contact_pad_button": [
+              0.17623566091060638,
+              -0.43944236636161804,
+              0.7680599093437195
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00241567680857524,
+              0.020814762622824223
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f1fb34a51dc7265ccdf3e023db0a10a1cd131d23f13201ab503f164f90ebc297",
+    "visual_seed": 7877483522366712860,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6fdbf5b0fa2078d5a23e31d88c9eb2ab6463f43
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_102_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29119519776305036,
+              0.3497490048289239,
+              1.0477616385475959
+            ],
+            "current_z": 1.0477616385475959,
+            "required_z": 0.8565865864822125,
+            "initial_z": 0.7565865864822126,
+            "lift_margin": 0.19117505206538332,
+            "gripper_z": 1.0473793379760175,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28570317284073776,
+              0.3447610763559935,
+              1.0473793379760175
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+              0.005492024922312599,
+              0.004987928472930392,
+              0.0003823005715783978
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+            "object_to_gripper_xy": 0.00741901396402328,
+            "object_to_gripper_z": 0.0003823005715783978,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.29119519776305036,
+              0.3249112659114867,
+              1.0477616385475959
+            ],
+            "finger_b": [
+              0.2792990687245545,
+              0.3497490048289239,
+              1.0477616385475959
+            ],
+            "finger_midpoint": [
+              0.28524713324380246,
+              0.3373301353702053,
+              1.0477616385475959
+            ],
+            "object_minus_finger_midpoint": [
+              0.005948064519247898,
+              0.012418869458718618,
+              0.0
+            ],
+            "finger_gap": 0.02753962891237494,
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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": 1.0936660208909388,
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+            "object_projection_between_fingers": 0.8134070783922632,
+            "object_to_finger_line_xy": 0.010729009752688838,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04831729924592705,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.48950626760484806,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2911942224482077,
+              0.34857009478937806,
+              1.2355139897044456
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+            "held_position": [
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+              0.3532112805717382,
+              1.2358095629748804
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007430049441027113,
+            "max_held_gripper_dist": 0.0074343792860560925,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002955732704348346,
+            "max_held_gripper_z_dist": 0.00039511994373775394,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08881603344250943,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.3275816693771511,
+              1.2358095629748804
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+              0.3532112805717382,
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+              0.34039647497444464,
+              1.2358095629748804
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+            "held_grasp_object_position": [
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+              0.3532112805717382,
+              1.2358095629748804
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+            "held_grasp_finger_gap": 0.027632375067161923,
+            "held_grasp_max_gap": 0.12496625393629074,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02487694607838275,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06705447479034517,
+              -0.9976544778362579,
+              0.0137564626214286
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004296890056470062,
+            "held_grasp_line_xy_max_dist": 0.04748312696814537,
+            "held_grasp_object_top_z": 0.04520086199045181,
+            "held_grasp_top_clearance": 0.032069838656161115,
+            "held_grasp_min_top_clearance": 0.013560258597135543
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "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": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3276577197322872,
+              -0.3815458895065642,
+              0.8470194823094488
+            ],
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+              0.31957782029782894,
+              -0.3841551515216022,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008490761045635353,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18653053401120634,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194823094488,
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537176554021978,
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+            "release_fingertip_min_gap": 0.0853945067252485,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1554707400255032,
+            "release_required_pad_clearance": 0.05269725336262425,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.44936868492481763,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008794546127319336,
+            "max_z_decrease": 0.008794546127319336,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035018848886149624,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008794546127319336,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021020992921990025,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008794546127319336,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008794784273480016,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1752777397632599,
+              -0.44041660428047186,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1752777397632599,
+              -0.44041660428047186,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.175265101730889,
+              -0.44196445588442956,
+              0.8036143766769668
+            ],
+            "closest_button": [
+              0.17531035840511322,
+              -0.44039502739906317,
+              0.7686307430267334
+            ],
+            "closest_ee_minus_button": [
+              -4.5256674224225524e-05,
+              -0.0015694284853663976,
+              0.03498363365023338
+            ],
+            "button_min_z_position": [
+              0.17530786991119385,
+              -0.4403593242168427,
+              0.7680143117904663
+            ],
+            "min_active_finger_to_button": 0.14569618674855153,
+            "closest_active_finger": [
+              0.03427574038505554,
+              -0.427445650100708,
+              0.810599148273468
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+            "closest_active_finger_button": [
+              0.1752790063619614,
+              -0.44041851162910467,
+              0.7762893438339233
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14100326597690585,
+              0.012972861528396662,
+              0.03430980443954468
+            ],
+            "min_contact_pad_to_button": 0.021020992921990025,
+            "closest_contact_pad": [
+              0.17530786991119385,
+              -0.4429595016254571,
+              0.7888738712505816
+            ],
+            "closest_contact_pad_button": [
+              0.17530786991119385,
+              -0.4403593242168427,
+              0.7680143117904663
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026001774086144014,
+              0.020859559460115307
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9b454eccf2e70a5a21fc638e56a792cb6490a8548090cbdaa7318f78ee87219d",
+    "visual_seed": 3605135136759180746,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..21f66cd5fc176497fb09c28620e4f5a8c6157f94
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_103_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.35151566508651866,
+              1.0477264034792648
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+            "lift_margin": 0.19113976090515306,
+            "gripper_z": 1.047399926341545,
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+            "gripper_position": [
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+              0.34657331851131273,
+              1.047399926341545
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+              0.005287661234595287,
+              0.004942346575205925,
+              0.0003264771377198272
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+            "object_to_gripper_xy": 0.007237827781958582,
+            "object_to_gripper_z": 0.0003264771377198272,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.28785698487159156,
+              0.32694036883380734,
+              1.0477264034792648
+            ],
+            "finger_b": [
+              0.2758447030543618,
+              0.35151566508651866,
+              1.0477264034792648
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+            "finger_midpoint": [
+              0.28185084396297666,
+              0.339228016960163,
+              1.0477264034792648
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012287648126355633,
+              0.0
+            ],
+            "finger_gap": 0.02735397777956755,
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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": 1.0941858385500147,
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+            "object_to_finger_line_xy": 0.01079204592137918,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04877645109146618,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9875753363665484,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a97e3f5c1e124f1ebabc9925174711d21312e1baa325ffd64c16044e4c9a7c04",
+    "visual_seed": 6396054235401631195,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8371eeef26665eb354ab3da331eeafc6110b99f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_104_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.34064319796993836,
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+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15557203998722227,
+            "release_required_pad_clearance": 0.05274750275851385,
+            "release_pad_clearance_ok": true,
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 0.5453618831813455,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008732259273529053,
+            "max_z_decrease": 0.008732259273529053,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508375713713252,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008732259273529053,
+            "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": 0.021014659116937895,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008732259273529053,
+            "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": 0.008732419545170142,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17860190570354462,
+              -0.4439380168914795,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17860190570354462,
+              -0.4439380168914795,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1803218295082789,
+              -0.44212828724324554,
+              0.8030750418094066
+            ],
+            "closest_button": [
+              0.17862853407859802,
+              -0.4438923001289367,
+              0.7680765986442566
+            ],
+            "closest_ee_minus_button": [
+              0.0016932954296808855,
+              0.0017640128856911685,
+              0.034998443165149995
+            ],
+            "button_min_z_position": [
+              0.17862853407859802,
+              -0.4438923001289367,
+              0.7680765986442566
+            ],
+            "min_active_finger_to_button": 0.14365327906900863,
+            "closest_active_finger": [
+              0.05291122943162918,
+              -0.5042992234230042,
+              0.8105132579803467
+            ],
+            "closest_active_finger_button": [
+              0.17860814929008484,
+              -0.44394063949584955,
+              0.7759677767753601
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12569691985845566,
+              -0.060358583927154597,
+              0.03454548120498657
+            ],
+            "min_contact_pad_to_button": 0.021014659116937895,
+            "closest_contact_pad": [
+              0.17862853407859802,
+              -0.4438923001289367,
+              0.7890912577611945
+            ],
+            "closest_contact_pad_button": [
+              0.17862853407859802,
+              -0.4438923001289367,
+              0.7680765986442566
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021014659116937895
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e218d88adea3d2d56280e27c535f276b79ae3229bde9ff555d96f0301fdecc54",
+    "visual_seed": 3113680319786883568,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..75baed45a0ad62310ae8c530ee4c3f70111a7798
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_106_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.28575693413764264,
+              0.34433898295959686,
+              1.0499488803383787
+            ],
+            "current_z": 1.0499488803383787,
+            "required_z": 0.8565865396331177,
+            "initial_z": 0.7565865396331177,
+            "lift_margin": 0.19336234070526104,
+            "gripper_z": 1.049962351997557,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27984623972834055,
+              0.3391922665399672,
+              1.049962351997557
+            ],
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+              0.005910694409302086,
+              0.00514671641962966,
+              -1.3471659178199147e-05
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+            "object_to_gripper_xy": 0.007837410178384215,
+            "object_to_gripper_z": -1.3471659178199147e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28575693413764264,
+              0.31916284681360574,
+              1.0499488803383787
+            ],
+            "finger_b": [
+              0.27368363173869864,
+              0.34433898295959686,
+              1.0499488803383787
+            ],
+            "finger_midpoint": [
+              0.27972028293817064,
+              0.3317509148866013,
+              1.0499488803383787
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060366511994719985,
+              0.012588068072995562,
+              0.0
+            ],
+            "finger_gap": 0.027921362109643355,
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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": 1.0499488803383787,
+            "object_top_z": 1.0959921334111171,
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+            "object_projection_between_fingers": 0.8130269747589193,
+            "object_to_finger_line_xy": 0.01088625632710646,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048658274375846786,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8514099779802092,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28537160689145824,
+              0.34298749963786507,
+              1.2394077694731058
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+            "held_position": [
+              0.2915531144143545,
+              0.3478049534079644,
+              1.239316100555082
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+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.3299862579204593,
+              -0.38748716427925384,
+              0.8470195540587915
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+              0.3223957422860146,
+              -0.3896273012969781,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007886451296456707,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18724357530092017,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195540587915,
+            "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": 0.07547539980406583,
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+            "release_fingertip_min_gap": 0.08655683657162892,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1556935910565871,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5751636877845234,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008725404739379883,
+            "max_z_decrease": 0.008725404739379883,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035019069814741725,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008725404739379883,
+            "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": 0.020991797182637995,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008725404739379883,
+            "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": 0.008725607511640594,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17809566855430597,
+              -0.4458887577056885,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17809566855430597,
+              -0.4458887577056885,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.178060234223814,
+              -0.4443040740732971,
+              0.8030688240782851
+            ],
+            "closest_button": [
+              0.17806158959865565,
+              -0.4458400011062622,
+              0.7680834531784058
+            ],
+            "closest_ee_minus_button": [
+              -1.3553748416383904e-06,
+              0.0015359270329651231,
+              0.0349853708998793
+            ],
+            "button_min_z_position": [
+              0.17806158959865565,
+              -0.4458400011062622,
+              0.7680834531784058
+            ],
+            "min_active_finger_to_button": 0.14532967963767293,
+            "closest_active_finger": [
+              0.05034974217414856,
+              -0.5059528350830078,
+              0.8098587989807129
+            ],
+            "closest_active_finger_button": [
+              0.17810156941413877,
+              -0.4458906054496765,
+              0.7753230929374695
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1277518272399902,
+              -0.0600622296333313,
+              0.03453570604324341
+            ],
+            "min_contact_pad_to_button": 0.020991797182637995,
+            "closest_contact_pad": [
+              0.17806158959865565,
+              -0.4458400011062622,
+              0.7890752503610438
+            ],
+            "closest_contact_pad_button": [
+              0.17806158959865565,
+              -0.4458400011062622,
+              0.7680834531784058
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020991797182637995
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e4ea540b48358ab9b9ed3d1f2f7c7f6f079adb456c70e1cc1d61049c747dc09",
+    "visual_seed": 5194041082288704242,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fb34cc7a5e9aaa0f4a094661d1206d4aee89a4b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_10_success.json
@@ -0,0 +1,926 @@
+{
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503496036788549,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008740723133087158,
+            "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": 0.020879419835906465,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008740723133087158,
+            "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": 0.008740872560457717,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18150319159030912,
+              -0.4442605674266815,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18150319159030912,
+              -0.4442605674266815,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18169453178396697,
+              -0.4424687415520677,
+              0.8030591827513225
+            ],
+            "closest_button": [
+              0.18149235844612116,
+              -0.44421061873435974,
+              0.7680681347846985
+            ],
+            "closest_ee_minus_button": [
+              0.00020217333784580682,
+              0.0017418771822920176,
+              0.034991047966624
+            ],
+            "button_min_z_position": [
+              0.18149235844612116,
+              -0.44421061873435974,
+              0.7680681347846985
+            ],
+            "min_active_finger_to_button": 0.1449031760262791,
+            "closest_active_finger": [
+              0.05592206120491028,
+              -0.5079184174537659,
+              0.8108890056610107
+            ],
+            "closest_active_finger_button": [
+              0.18150502443313596,
+              -0.44426167011260986,
+              0.776630163192749
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12558296322822568,
+              -0.063656747341156,
+              0.03425884246826172
+            ],
+            "min_contact_pad_to_button": 0.020879419835906465,
+            "closest_contact_pad": [
+              0.18149235844612116,
+              -0.44421061873435974,
+              0.788947554620605
+            ],
+            "closest_contact_pad_button": [
+              0.18149235844612116,
+              -0.44421061873435974,
+              0.7680681347846985
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020879419835906465
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "64c8e970945168927624c87e08e22b8b62da3c33b79c0ec1bbda2cfe1833b214",
+    "visual_seed": 2109159872248397348,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..46a2a3112257ba27a1b50e5f9c988c0da48bcd3c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_11_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28988246656125005,
+              0.3463948311618854,
+              1.0486402749883132
+            ],
+            "current_z": 1.0486402749883132,
+            "required_z": 0.8565866689130925,
+            "initial_z": 0.7565866689130926,
+            "lift_margin": 0.1920536060752207,
+            "gripper_z": 1.048357356065423,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28443466212539326,
+              0.3412740825557217,
+              1.048357356065423
+            ],
+            "object_minus_gripper": [
+              0.005447804435856796,
+              0.005120748606163683,
+              0.0002829189228903406
+            ],
+            "object_to_gripper_xy": 0.0074766730207270855,
+            "object_to_gripper_z": 0.0002829189228903406,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28988246656125005,
+              0.3217855282591439,
+              1.0486402749883132
+            ],
+            "finger_b": [
+              0.27753339462703647,
+              0.3463948311618854,
+              1.0486402749883132
+            ],
+            "finger_midpoint": [
+              0.28370793059414323,
+              0.3340901797105147,
+              1.0486402749883132
+            ],
+            "object_minus_finger_midpoint": [
+              0.00617453596710682,
+              0.012304651451370718,
+              0.0
+            ],
+            "finger_gap": 0.02753393119398795,
+            "fingertip_max_gap": 0.09044268241849465,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01376696559699396,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486402749883132,
+            "object_top_z": 1.0940326073950446,
+            "finger_top_clearance": 0.04539233240673135,
+            "fingertip_min_top_clearance": 0.013617699722019405,
+            "object_projection_between_fingers": 0.7988443685958527,
+            "object_to_finger_line_xy": 0.011037365120719235,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04772134120924733,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.20182098267578258,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2901746231997685,
+              0.3450754370171898,
+              1.2375512003935765
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+            "held_position": [
+              0.29604536002306003,
+              0.3497086037420017,
+              1.2377451961603332
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0074812712225780795,
+            "max_held_gripper_dist": 0.007482616029262522,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00019399576675671604,
+            "max_held_gripper_z_dist": 0.0002924530674248693,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08856617568182856,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29604536002306003,
+              0.3239584238206797,
+              1.2377451961603332
+            ],
+            "held_grasp_finger_b": [
+              0.285821678007433,
+              0.3497086037420017,
+              1.2377451961603332
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+            "held_grasp_midpoint": [
+              0.29093351901524656,
+              0.3368335137813407,
+              1.2377451961603332
+            ],
+            "held_grasp_object_position": [
+              0.29604536002306003,
+              0.3497086037420017,
+              1.2377451961603332
+            ],
+            "held_grasp_finger_gap": 0.027705512807690638,
+            "held_grasp_max_gap": 0.12496551632881164,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024738714627207843,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0889107997859619,
+              -0.9960206278301551,
+              0.006146431342194501
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00394768286992961,
+            "held_grasp_line_xy_max_dist": 0.04748275816440582,
+            "held_grasp_object_top_z": 0.04520043358206749,
+            "held_grasp_top_clearance": 0.031922080523696814,
+            "held_grasp_min_top_clearance": 0.013560130074620246
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.33539233164697724,
+              -0.3873735822479761,
+              0.8470195882385163
+            ],
+            "target_position": [
+              0.3270711002340374,
+              -0.38985215523772637,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008682523613167797,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18845152411918759,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195882385163,
+            "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": 0.07582463893163509,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496550469607843,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15613497333576037,
+            "release_required_pad_clearance": 0.052482752348039216,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.039564498668539234,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00891721248626709,
+            "max_z_decrease": 0.00891721248626709,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035000866560700346,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00891721248626709,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020989446350302914,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00891721248626709,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008917714849995971,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18277102708816523,
+              -0.44611361622810364,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18277102708816523,
+              -0.44611361622810364,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18331040659168965,
+              -0.4457127319751801,
+              0.8032984922040386
+            ],
+            "closest_button": [
+              0.18271654844284052,
+              -0.4460436701774597,
+              0.7683042287826538
+            ],
+            "closest_ee_minus_button": [
+              0.0005938581488491301,
+              0.0003309382022796403,
+              0.034994263421384786
+            ],
+            "button_min_z_position": [
+              0.18270754814147944,
+              -0.4460434019565582,
+              0.7678916454315186
+            ],
+            "min_active_finger_to_button": 0.14530246126453436,
+            "closest_active_finger": [
+              0.056385338306427,
+              -0.5089462995529175,
+              0.8108927607536316
+            ],
+            "closest_active_finger_button": [
+              0.18277600407600397,
+              -0.446115642786026,
+              0.776388943195343
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12639066576957697,
+              -0.06283065676689148,
+              0.034503817558288574
+            ],
+            "min_contact_pad_to_button": 0.020989446350302914,
+            "closest_contact_pad": [
+              0.18270754814147944,
+              -0.44684739004965884,
+              0.7888656879898428
+            ],
+            "closest_contact_pad_button": [
+              0.18270754814147944,
+              -0.4460434019565582,
+              0.7678916454315186
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000803988093100616,
+              0.020974042558324246
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e07a597f53c91f0d069d2bd35661081ff70cfe1a7906bf9702bc470941ea17fe",
+    "visual_seed": 2507329295795688438,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..96cbf42bdae05ed3fe0bbe286e48ae8814736dee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_12_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2918203219175015,
+              0.3499422749776614,
+              1.0491509519491393
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+            "current_z": 1.0491509519491393,
+            "required_z": 0.8565865976252751,
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+            "lift_margin": 0.1925643543238642,
+            "gripper_z": 1.0487508674801251,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28598652621650344,
+              0.3448169726317304,
+              1.0487508674801251
+            ],
+            "object_minus_gripper": [
+              0.005833795700998068,
+              0.005125302345931004,
+              0.0004000844690141836
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+            "object_to_gripper_z": 0.0004000844690141836,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2918203219175015,
+              0.3248229768119804,
+              1.0491509519491393
+            ],
+            "finger_b": [
+              0.27977522202162286,
+              0.3499422749776614,
+              1.0491509519491393
+            ],
+            "finger_midpoint": [
+              0.2857977719695622,
+              0.33738262589482093,
+              1.0491509519491393
+            ],
+            "object_minus_finger_midpoint": [
+              0.006022549947939326,
+              0.012559649082840463,
+              0.0
+            ],
+            "finger_gap": 0.02785791757899502,
+            "fingertip_max_gap": 0.09323828968712969,
+            "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": 1.0955654903689394,
+            "finger_top_clearance": 0.04641453841980003,
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+            "object_projection_between_fingers": 0.813050841752476,
+            "object_to_finger_line_xy": 0.010860986104292461,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049119144843564846,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1795080599019534,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
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+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "99bde511c281dac356288798393893a72d1303c6a9c36ca440394ed88c91f327",
+    "visual_seed": 5200880698020069034,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..97d70b1e069c3379f8376407ce74a57986ebf7c7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_13_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              0.3454463970997427,
+              1.0495962030852708
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+              0.0050443274810265115,
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+              0.3206194531298971,
+              1.0495962030852708
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+              1.0495962030852708
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+              0.33303292511481986,
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+              1.0
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+            "stable_success_frames": 228,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_held_gripper_z_dist": 0.0002996089137368152,
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+              0.3359856969709699,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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+      "physical_semantics": {
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_min_pad_clearance": 0.1541665134819235,
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+            "max_z_margin": 0.1,
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+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008678555488586426,
+            "max_z_decrease": 0.008678555488586426,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350304903364474,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008678555488586426,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021172529248087824,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008678555488586426,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008678718014655138,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17688353359699246,
+              -0.4406440258026123,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17688353359699246,
+              -0.4406440258026123,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17753094990172222,
+              -0.44212632197680957,
+              0.8031211529991359
+            ],
+            "closest_button": [
+              0.17688429355621332,
+              -0.44059091806411743,
+              0.7681303024291992
+            ],
+            "closest_ee_minus_button": [
+              0.0006466563455088947,
+              -0.0015354039126921348,
+              0.03499085056993667
+            ],
+            "button_min_z_position": [
+              0.17688429355621332,
+              -0.44059091806411743,
+              0.7681303024291992
+            ],
+            "min_active_finger_to_button": 0.14503576055344158,
+            "closest_active_finger": [
+              0.03691364824771881,
+              -0.4249090254306793,
+              0.8094345927238464
+            ],
+            "closest_active_finger_button": [
+              0.17688934504985804,
+              -0.4406466782093048,
+              0.7748730182647705
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13997569680213923,
+              0.01573765277862549,
+              0.03456157445907593
+            ],
+            "min_contact_pad_to_button": 0.021172529248087824,
+            "closest_contact_pad": [
+              0.17688429355621332,
+              -0.44340096530206785,
+              0.7891155264995212
+            ],
+            "closest_contact_pad_button": [
+              0.17688429355621332,
+              -0.44059091806411743,
+              0.7681303024291992
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028100472379504193,
+              0.020985224070321995
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5fd78cabb4b330b48ab3f2611056e8767d9011667f72a8824c2dea12660d714a",
+    "visual_seed": 4434463689037984965,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de3340ecabc1fcee37ea1bce7d4ed1e483c38c6e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2873137055047655,
+              0.347754765340065,
+              1.0473181193668644
+            ],
+            "current_z": 1.0473181193668644,
+            "required_z": 0.8565865593220444,
+            "initial_z": 0.7565865593220444,
+            "lift_margin": 0.19073156004481995,
+            "gripper_z": 1.0471626512480678,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28201865053901565,
+              0.3427137708958046,
+              1.0471626512480678
+            ],
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+              0.005295054965749835,
+              0.005040994444260372,
+              0.00015546811879652012
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+            "object_to_gripper_xy": 0.007310898171728007,
+            "object_to_gripper_z": 0.00015546811879652012,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2873137055047655,
+              0.32327668657488456,
+              1.0473181193668644
+            ],
+            "finger_b": [
+              0.2750347645258755,
+              0.347754765340065,
+              1.0473181193668644
+            ],
+            "finger_midpoint": [
+              0.28117423501532046,
+              0.3355157259574748,
+              1.0473181193668644
+            ],
+            "object_minus_finger_midpoint": [
+              0.00613947048944502,
+              0.012239039382590189,
+              0.0
+            ],
+            "finger_gap": 0.0273851918305759,
+            "fingertip_max_gap": 0.09232484064680654,
+            "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": 1.0938980096171593,
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+            "fingertip_min_top_clearance": 0.013973967075088455,
+            "object_projection_between_fingers": 0.7989564016704069,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048662420323403274,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.040563404833559,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2881442411820432,
+              0.3455696542028613,
+              1.2355218386619786
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+            "held_position": [
+              0.2939330604224543,
+              0.3500358745823944,
+              1.235572077646457
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007311639804604183,
+            "max_held_gripper_dist": 0.007312476809876086,
+            "held_gripper_max_dist": 0.15,
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+                "beaker_b"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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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",
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+                "joint1",
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+                "joint4",
+                "joint5",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "floor",
+                "ground",
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+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32607604631748427,
+              -0.3828398672600908,
+              0.8470196790224997
+            ],
+            "target_position": [
+              0.3196226976592781,
+              -0.3840629613030143,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0065682317211108315,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1850224944711861,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196790224997,
+            "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": 0.07575223864837445,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08579840119807162,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15268962840069455,
+            "release_required_pad_clearance": 0.052899200599035814,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8374281780298162,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008777499198913574,
+            "max_z_decrease": 0.008777499198913574,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035004223599636154,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008777499198913574,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020960056718448274,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008777499198913574,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00877770604321896,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17532262206077573,
+              -0.44032442569732655,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17532262206077573,
+              -0.44032442569732655,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1760516225241791,
+              -0.43982648542687547,
+              0.8030256976092948
+            ],
+            "closest_button": [
+              0.17534767091274256,
+              -0.4402696192264556,
+              0.7680313587188721
+            ],
+            "closest_ee_minus_button": [
+              0.0007039516114365485,
+              0.0004431337995801088,
+              0.034994338890422694
+            ],
+            "button_min_z_position": [
+              0.17534767091274256,
+              -0.4402696192264556,
+              0.7680313587188721
+            ],
+            "min_active_finger_to_button": 0.14501200889906124,
+            "closest_active_finger": [
+              0.048868581652641296,
+              -0.5024134516716003,
+              0.8106622695922852
+            ],
+            "closest_active_finger_button": [
+              0.1753268837928772,
+              -0.4403270184993743,
+              0.7762812376022339
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1264583021402359,
+              -0.06208643317222606,
+              0.03438103199005127
+            ],
+            "min_contact_pad_to_button": 0.020960056718448274,
+            "closest_contact_pad": [
+              0.17534767091274256,
+              -0.44104379338318406,
+              0.7889771132294077
+            ],
+            "closest_contact_pad_button": [
+              0.17534767091274256,
+              -0.4402696192264556,
+              0.7680313587188721
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007741741567284799,
+              0.020945754510535597
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e442b84d298ce497a9c8953539d68002049e7f7030c70475e107053d07a4ca30",
+    "visual_seed": 8461716368158425291,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..08dad0c267330716446d3778df74aa246c9aefee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_15_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008761346340179443,
+            "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": 0.008761585923724245,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1789313107728958,
+              -0.4456286728382111,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1789313107728958,
+              -0.4456286728382111,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17939115794767221,
+              -0.444559556524883,
+              0.8030413764119235
+            ],
+            "closest_button": [
+              0.17889191210269928,
+              -0.44557723402976995,
+              0.7680475115776062
+            ],
+            "closest_ee_minus_button": [
+              0.0004992458449729342,
+              0.0010176775048869602,
+              0.03499386483431732
+            ],
+            "button_min_z_position": [
+              0.17889191210269928,
+              -0.44557723402976995,
+              0.7680475115776062
+            ],
+            "min_active_finger_to_button": 0.1451012102780565,
+            "closest_active_finger": [
+              0.05184110254049301,
+              -0.5065258741378784,
+              0.8104577660560608
+            ],
+            "closest_active_finger_button": [
+              0.17893758416175842,
+              -0.44563138484954834,
+              0.7759221792221069
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1270964816212654,
+              -0.06089448928833008,
+              0.03453558683395386
+            ],
+            "min_contact_pad_to_button": 0.020999287984949624,
+            "closest_contact_pad": [
+              0.17889191210269928,
+              -0.4458349339140767,
+              0.789045218277255
+            ],
+            "closest_contact_pad_button": [
+              0.17889191210269928,
+              -0.44557723402976995,
+              0.7680475115776062
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00025769988430673907,
+              0.020997706699648844
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e8ea010491bb879f4f00556e378d49d24b44a126ec2a92582c37832f1cc999b",
+    "visual_seed": 8019020146794550388,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e4ee2fec1f5ecf8d1409512d073d230be7aea0d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_16_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2899950548500401,
+              0.35249138434709704,
+              1.0504178479071886
+            ],
+            "current_z": 1.0504178479071886,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19383140010326783,
+            "gripper_z": 1.0501286475286318,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2840427818846408,
+              0.34726874167571886,
+              1.0501286475286318
+            ],
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+              0.005952272965399297,
+              0.005222642671378175,
+              0.000289200378556842
+            ],
+            "object_to_gripper_xy": 0.007918683598144549,
+            "object_to_gripper_z": 0.000289200378556842,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2899950548500401,
+              0.32736074608677357,
+              1.0504178479071886
+            ],
+            "finger_b": [
+              0.27771729819418867,
+              0.35249138434709704,
+              1.0504178479071886
+            ],
+            "finger_midpoint": [
+              0.28385617652211437,
+              0.3399260652169353,
+              1.0504178479071886
+            ],
+            "object_minus_finger_midpoint": [
+              0.006138878327925756,
+              0.012565319130161734,
+              0.0
+            ],
+            "finger_gap": 0.027969488516444818,
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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": 1.0504178479071886,
+            "object_top_z": 1.0972315855785642,
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+            "fingertip_min_top_clearance": 0.014044121301412693,
+            "object_projection_between_fingers": 0.807305644146835,
+            "object_to_finger_line_xy": 0.011031587545302065,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04960445676044502,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4898589682545795,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28962356519882915,
+              0.35149221420277926,
+              1.2416897944497187
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+            "held_position": [
+              0.2958716859077814,
+              0.3563591308055132,
+              1.2419336996787365
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007923722570379862,
+            "max_held_gripper_dist": 0.007925455532909614,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00024390522901773792,
+            "max_held_gripper_z_dist": 0.00033333413647262944,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08841082214100038,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2958716859077814,
+              0.33048791815787215,
+              1.2419336996787365
+            ],
+            "held_grasp_finger_b": [
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+              0.3563591308055132,
+              1.2419336996787365
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+            "held_grasp_midpoint": [
+              0.2904297818692606,
+              0.34342352448169267,
+              1.2419336996787365
+            ],
+            "held_grasp_object_position": [
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+              0.3563591308055132,
+              1.2419336996787365
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+            "held_grasp_finger_gap": 0.028067364003720327,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025426294655842424,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0385406901911265,
+              -0.9990163384705515,
+              0.021931043488260468
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00494758591959682,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03206760816269262,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3334933877113243,
+              -0.3899097434800025,
+              0.8470195841886115
+            ],
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+              -0.39224078140290314,
+              0.8084375599031817
+            ],
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6394426443689438,
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+            "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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008919000625610352,
+            "max_z_decrease": 0.008919000625610352,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506313346554746,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008919000625610352,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02091755031204645,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008919000625610352,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00891935268355312,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18097898364067078,
+              -0.44850224256515503,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18097898364067078,
+              -0.44850224256515503,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18224297486702903,
+              -0.4467318413936181,
+              0.8028876113210749
+            ],
+            "closest_button": [
+              0.18094269931316376,
+              -0.4484317898750306,
+              0.7678898572921753
+            ],
+            "closest_ee_minus_button": [
+              0.0013002755538652766,
+              0.0016999484814124721,
+              0.0349977540288996
+            ],
+            "button_min_z_position": [
+              0.18094269931316376,
+              -0.4484317898750306,
+              0.7678898572921753
+            ],
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+            "closest_active_finger": [
+              0.05585946887731552,
+              -0.5110346078872681,
+              0.8107616901397705
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+            "closest_active_finger_button": [
+              0.18098226189613342,
+              -0.4485048353672028,
+              0.7764008045196533
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1251227930188179,
+              -0.06252977252006525,
+              0.03436088562011719
+            ],
+            "min_contact_pad_to_button": 0.02091755031204645,
+            "closest_contact_pad": [
+              0.18094269931316376,
+              -0.4484317898750306,
+              0.7888074076042217
+            ],
+            "closest_contact_pad_button": [
+              0.18094269931316376,
+              -0.4484317898750306,
+              0.7678898572921753
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02091755031204645
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "07ff49ee15ee098f1875a00de60892e15f86f2aaeb56f8aae6e22d11c637759a",
+    "visual_seed": 7518575103027770343,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ec3a11863cd7f9c3b75b64c945294e9838bd2bf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_17_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              0.3520536614082673,
+              1.049189814144174
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+            "lift_margin": 0.1926031911180497,
+            "gripper_z": 1.048722845514922,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.287042542495355,
+              0.3468902265281808,
+              1.048722845514922
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+              0.005163434880086526,
+              0.0004669686292519959
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+            "object_to_gripper_z": 0.0004669686292519959,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.29289926059889376,
+              0.32695207488131667,
+              1.049189814144174
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+            "finger_b": [
+              0.2807535518358722,
+              0.3520536614082673,
+              1.049189814144174
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+            "finger_midpoint": [
+              0.286826406217383,
+              0.339502868144792,
+              1.049189814144174
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+            "object_minus_finger_midpoint": [
+              0.006072854381510784,
+              0.012550793263475302,
+              0.0
+            ],
+            "finger_gap": 0.027885621519452095,
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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": 0.8102922517601366,
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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": 1.289616020499548,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
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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": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d0d1c10425a8c984b3812f7c5d65e3f363c3232bb79fd4b9e96c4539d8d1a66e",
+    "visual_seed": 4119952244469099604,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d13958cd1a5741acaf0300f11a8793911ed470d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+            "active_arm": null,
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+              0.351435003922962,
+              1.0490769578048484
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+            "lift_margin": 0.192490418669921,
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+              0.2823094346986773,
+              0.3464532951453154,
+              1.0487453992565694
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+              0.004981708777646587,
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+            "object_to_gripper_z": 0.00033155854827904285,
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+              0.3267972469642181,
+              1.0490769578048484
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+              0.33911612544359004,
+              1.0490769578048484
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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": 0.04834700611213545,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3502629514970214,
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+              0.3548100290714962,
+              1.237834909050586
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.0002478369313485551,
+            "max_held_gripper_z_dist": 0.0003444718079457232,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08850049924458303,
+            "held_object_min_xy_range": 0.04,
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+              0.3419673946023699,
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+              0.3548100290714962,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_projection_between_fingers": 0.5,
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+            "held_grasp_min_top_clearance": 0.01356024071574211
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "release_gap_margin": 0.02,
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+            "release_min_pad_clearance": 0.15762122414098081,
+            "release_required_pad_clearance": 0.05349192154437403,
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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": 1.9963761359017163,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008789360523223877,
+            "max_z_decrease": 0.008789360523223877,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502935248259737,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008789360523223877,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020998499719921168,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008789360523223877,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008789556264256846,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1741161942481994,
+              -0.4405701160430908,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1741161942481994,
+              -0.4405701160430908,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1753949614493778,
+              -0.4397305233256824,
+              0.8030174318290868
+            ],
+            "closest_button": [
+              0.1741360574960708,
+              -0.44051492214202875,
+              0.7680194973945618
+            ],
+            "closest_ee_minus_button": [
+              0.0012589039533069946,
+              0.0007843988163463433,
+              0.034997934434525035
+            ],
+            "button_min_z_position": [
+              0.1741360574960708,
+              -0.44051492214202875,
+              0.7680194973945618
+            ],
+            "min_active_finger_to_button": 0.1444225299961093,
+            "closest_active_finger": [
+              0.047672733664512634,
+              -0.5012326836585999,
+              0.8107116222381592
+            ],
+            "closest_active_finger_button": [
+              0.17412053048610682,
+              -0.44057196378707886,
+              0.7762283086776733
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12644779682159418,
+              -0.060660719871520996,
+              0.03448331356048584
+            ],
+            "min_contact_pad_to_button": 0.020998499719921168,
+            "closest_contact_pad": [
+              0.1741360574960708,
+              -0.44105520468598647,
+              0.7890110453427295
+            ],
+            "closest_contact_pad_button": [
+              0.1741360574960708,
+              -0.44051492214202875,
+              0.7680194973945618
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005402825439577152,
+              0.02099154794816771
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ca8cfb53712d8e463e7e7cb3aaea75615dad9b0d53c6b7bedde4fcd019d6f943",
+    "visual_seed": 8540132301927451760,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..780d960e870869aa477e33b2cce2254816200ad7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_19_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.290772168610619,
+              0.35396887914710595,
+              1.048132580755894
+            ],
+            "current_z": 1.048132580755894,
+            "required_z": 0.8565866322322234,
+            "initial_z": 0.7565866322322234,
+            "lift_margin": 0.19154594852367068,
+            "gripper_z": 1.0478037310687813,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28524885210401824,
+              0.3489162392502553,
+              1.0478037310687813
+            ],
+            "object_minus_gripper": [
+              0.005523316506600762,
+              0.005052639896850675,
+              0.0003288496871127755
+            ],
+            "object_to_gripper_xy": 0.0074857327737059675,
+            "object_to_gripper_z": 0.0003288496871127755,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.290772168610619,
+              0.3291997500994058,
+              1.048132580755894
+            ],
+            "finger_b": [
+              0.2786606429192139,
+              0.35396887914710595,
+              1.048132580755894
+            ],
+            "finger_midpoint": [
+              0.2847164057649164,
+              0.3415843146232559,
+              1.048132580755894
+            ],
+            "object_minus_finger_midpoint": [
+              0.006055762845702584,
+              0.012384564523850061,
+              0.0
+            ],
+            "finger_gap": 0.02757170303690345,
+            "fingertip_max_gap": 0.09114615107582671,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01378585151845171,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048132580755894,
+            "object_top_z": 1.093868500479112,
+            "finger_top_clearance": 0.04573591972321789,
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+            "object_projection_between_fingers": 0.8070385628583779,
+            "object_to_finger_line_xy": 0.010880428474564094,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04807307553791336,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.32109892987103394,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2908999745622307,
+              0.3527973007541442,
+              1.2378328769639668
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+            "held_position": [
+              0.29677609013857026,
+              0.357438780776477,
+              1.2380982193524044
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007492828414378396,
+            "max_held_gripper_dist": 0.007493995386923069,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00026534238843756164,
+            "max_held_gripper_z_dist": 0.0003538468198056588,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08861984949994295,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29677609013857026,
+              0.3317187081056736,
+              1.2380982193524044
+            ],
+            "held_grasp_finger_b": [
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "fr3_joint4",
+                "fr3_joint5",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
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+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+                "ur5e",
+                "visuals",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3282417430171884,
+              -0.3875301067757827,
+              0.8470197148817553
+            ],
+            "target_position": [
+              0.319351891981358,
+              -0.3902135124647526,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009286017312650828,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18872073413561818,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197148817553,
+            "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": 0.07559559746487943,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549601948653167,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15698621124509238,
+            "release_required_pad_clearance": 0.052748009743265836,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5467952935358987,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008713245391845703,
+            "max_z_decrease": 0.008713245391845703,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035005106154575916,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008713245391845703,
+            "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": 0.02094283266899585,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008713245391845703,
+            "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": 0.008713441937274326,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17505182325839996,
+              -0.4464749693870544,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17505182325839996,
+              -0.4464749693870544,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1756663656480313,
+              -0.4463831946123074,
+              0.8034660171488435
+            ],
+            "closest_button": [
+              0.17503046989440918,
+              -0.44642400741577143,
+              0.7684667110443115
+            ],
+            "closest_ee_minus_button": [
+              0.0006358957536221066,
+              4.081280346401872e-05,
+              0.034999306104531946
+            ],
+            "button_min_z_position": [
+              0.17502065002918246,
+              -0.44642543792724604,
+              0.7680956125259399
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+            "min_active_finger_to_button": 0.14518617669087688,
+            "closest_active_finger": [
+              0.03490900993347168,
+              -0.43049871921539307,
+              0.8103901743888855
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+            "closest_active_finger_button": [
+              0.17505508661270142,
+              -0.4464776515960693,
+              0.7759986519813538
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14014607667922974,
+              0.015978932380676214,
+              0.03439152240753174
+            ],
+            "min_contact_pad_to_button": 0.02094283266899585,
+            "closest_contact_pad": [
+              0.17502065002918246,
+              -0.4475227230118114,
+              0.7890096796972185
+            ],
+            "closest_contact_pad_button": [
+              0.17502065002918246,
+              -0.44642543792724604,
+              0.7680956125259399
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010972850845653581,
+              0.020914067171278528
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "19949e1424da465c71a20453895cd8d069a677832d77185897bdad23c0e4d0d3",
+    "visual_seed": 4374845738152483929,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e1f809c8367e97feb9b6507e4dc6bb49645edde
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_1_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28545588977140757,
+              0.3470206714508342,
+              1.0502943820000572
+            ],
+            "current_z": 1.0502943820000572,
+            "required_z": 0.8565866595787527,
+            "initial_z": 0.7565866595787527,
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+              0.18172632157802576,
+              -0.4418182373046875,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18172632157802576,
+              -0.4418182373046875,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1823707065964899,
+              -0.44066114520596045,
+              0.8030698608338652
+            ],
+            "closest_button": [
+              0.18175101280212397,
+              -0.44177180528640747,
+              0.7680780291557312
+            ],
+            "closest_ee_minus_button": [
+              0.0006196937943659386,
+              0.0011106600804470235,
+              0.03499183167813402
+            ],
+            "button_min_z_position": [
+              0.18175101280212397,
+              -0.44177180528640747,
+              0.7680780291557312
+            ],
+            "min_active_finger_to_button": 0.1448667733651107,
+            "closest_active_finger": [
+              0.055251963436603546,
+              -0.5034308433532715,
+              0.8105265498161316
+            ],
+            "closest_active_finger_button": [
+              0.18173223733901972,
+              -0.4418205618858337,
+              0.7759824395179749
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12648027390241617,
+              -0.0616102814674378,
+              0.03454411029815674
+            ],
+            "min_contact_pad_to_button": 0.021006692116192577,
+            "closest_contact_pad": [
+              0.18175101280212397,
+              -0.4418619431006394,
+              0.7890845278844331
+            ],
+            "closest_contact_pad_button": [
+              0.18175101280212397,
+              -0.44177180528640747,
+              0.7680780291557312
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -9.013781423194978e-05,
+              0.02100649872870186
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "406185dcbeded70e7bb98a7d11dbe8a53e03e3bf1cd794b3493ade731483a039",
+    "visual_seed": 5571467811500929668,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc8e7498de2125f9f083f145f9feb869bd1cb792
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_20_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29312851383511185,
+              0.34850226696634823,
+              1.0511132287528182
+            ],
+            "current_z": 1.0511132287528182,
+            "required_z": 0.8565865130128226,
+            "initial_z": 0.7565865130128226,
+            "lift_margin": 0.19452671573999558,
+            "gripper_z": 1.0507761166697303,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28760550388619666,
+              0.3434615763663553,
+              1.0507761166697303
+            ],
+            "object_minus_gripper": [
+              0.005523009948915192,
+              0.005040690599992903,
+              0.0003371120830879537
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+            "object_to_gripper_xy": 0.007477446129573452,
+            "object_to_gripper_z": 0.0003371120830879537,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29312851383511185,
+              0.32367144573794643,
+              1.0511132287528182
+            ],
+            "finger_b": [
+              0.2811127130497557,
+              0.34850226696634823,
+              1.0511132287528182
+            ],
+            "finger_midpoint": [
+              0.2871206134424338,
+              0.3360868563521473,
+              1.0511132287528182
+            ],
+            "object_minus_finger_midpoint": [
+              0.006007900392678067,
+              0.012415410614200928,
+              0.0
+            ],
+            "finger_gap": 0.027585306802539185,
+            "fingertip_max_gap": 0.09096414088755742,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013792653401269617,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0511132287528182,
+            "object_top_z": 1.0967022049147774,
+            "finger_top_clearance": 0.04558897616195923,
+            "fingertip_min_top_clearance": 0.013676692848587768,
+            "object_projection_between_fingers": 0.8102639732896852,
+            "object_to_finger_line_xy": 0.010815982702422006,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04798207044377871,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.29813877742723466,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29345028103760573,
+              0.34693050614864784,
+              1.241281735113868
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+            "held_position": [
+              0.29933096444408025,
+              0.35155153777185577,
+              1.241554639948628
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007484039526800199,
+            "max_held_gripper_dist": 0.00748561792861038,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00027290483475983507,
+            "max_held_gripper_z_dist": 0.0003609562630686458,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08853619782286248,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29933096444408025,
+              0.32576182155558997,
+              1.241554639948628
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+            "held_grasp_finger_b": [
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+              0.35155153777185577,
+              1.241554639948628
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+            "held_grasp_midpoint": [
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+              0.33865667966372287,
+              1.241554639948628
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+            "held_grasp_object_position": [
+              0.29933096444408025,
+              0.35155153777185577,
+              1.241554639948628
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+            "held_grasp_finger_gap": 0.027741991005530587,
+            "held_grasp_max_gap": 0.1249656280875206,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02491857841980052,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07749506563771809,
+              -0.9969402528612247,
+              0.010229712938461755
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004099001530060573,
+            "held_grasp_line_xy_max_dist": 0.0474828140437603,
+            "held_grasp_object_top_z": 0.045200467109680176,
+            "held_grasp_top_clearance": 0.03194895011371718,
+            "held_grasp_min_top_clearance": 0.013560140132904052
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32773226288758917,
+              -0.38497425205102953,
+              0.8470194474497361
+            ],
+            "target_position": [
+              0.3206599576646339,
+              -0.3863044153127721,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007196307071653486,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18798035409203157,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194474497361,
+            "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": 0.07543044934477729,
+            "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": 0.1564450785392724,
+            "release_required_pad_clearance": 0.053540726878702746,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.090976192952531,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008784770965576172,
+            "max_z_decrease": 0.008784770965576172,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035013121900738985,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008784770965576172,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02089378038098455,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008784770965576172,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008784986726968999,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1763598769903183,
+              -0.44256588816642756,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1763598769903183,
+              -0.44256588816642756,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17560717314129695,
+              -0.44122353450663676,
+              0.8030041237334828
+            ],
+            "closest_button": [
+              0.17640215158462527,
+              -0.44252112507820124,
+              0.7680240869522095
+            ],
+            "closest_ee_minus_button": [
+              -0.0007949784433283202,
+              0.0012975905715644775,
+              0.03498003678127337
+            ],
+            "button_min_z_position": [
+              0.17640215158462527,
+              -0.44252112507820124,
+              0.7680240869522095
+            ],
+            "min_active_finger_to_button": 0.14592311620369725,
+            "closest_active_finger": [
+              0.04870834946632385,
+              -0.5043801069259644,
+              0.8106046915054321
+            ],
+            "closest_active_finger_button": [
+              0.17636248469352722,
+              -0.44256868958473206,
+              0.7762925028800964
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12765413522720337,
+              -0.0618114173412323,
+              0.03431218862533569
+            ],
+            "min_contact_pad_to_button": 0.02089378038098455,
+            "closest_contact_pad": [
+              0.17640215158462527,
+              -0.44252112507820124,
+              0.788917867333194
+            ],
+            "closest_contact_pad_button": [
+              0.17640215158462527,
+              -0.44252112507820124,
+              0.7680240869522095
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02089378038098455
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "05ed3a318bf82ddd7195b9766626ef6b7abb37395716054f76699af05a9d4afb",
+    "visual_seed": 2915384073505702584,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..62dcdfa3f922f628ab7d22cbcfef92181a58787b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_21_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2841072787594306,
+              0.3469233633879045,
+              1.048348906495506
+            ],
+            "current_z": 1.048348906495506,
+            "required_z": 0.8565866542195947,
+            "initial_z": 0.7565866542195947,
+            "lift_margin": 0.19176225227591137,
+            "gripper_z": 1.0483883937575105,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27822809784828517,
+              0.3417782127716007,
+              1.0483883937575105
+            ],
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+              0.005879180911145421,
+              0.0051451506163038285,
+              -3.9487262004422874e-05
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+            "object_to_gripper_xy": 0.00781263995397384,
+            "object_to_gripper_z": -3.9487262004422874e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2841072787594306,
+              0.3217664839178678,
+              1.048348906495506
+            ],
+            "finger_b": [
+              0.27203796602285296,
+              0.3469233633879045,
+              1.048348906495506
+            ],
+            "finger_midpoint": [
+              0.2780726223911418,
+              0.33434492365288615,
+              1.048348906495506
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060346563682888155,
+              0.012578439735018376,
+              0.0
+            ],
+            "finger_gap": 0.027902274004160874,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013951137002080437,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048348906495506,
+            "object_top_z": 1.0942725564976998,
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+            "fingertip_min_top_clearance": 0.013777095000658135,
+            "object_projection_between_fingers": 0.8128947890034871,
+            "object_to_finger_line_xy": 0.010881774215068817,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048491274552673866,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7247206988383799,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
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+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
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+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
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+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2ba64829c84218df48bd5eaae1a513a73675076eec7991baa42e31947512b072",
+    "visual_seed": 6247706570665570533,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      3930001998081723350,
+      4554555277898534358,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..593ee80775ee41df797445676e537e4ae7035f70
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_22_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.33324006078405444,
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+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_min_pad_clearance": 0.1561923120622863,
+            "release_required_pad_clearance": 0.052529037375867935,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.12510077867703415,
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+            "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"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008791625499725342,
+            "max_z_decrease": 0.008791625499725342,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035024471738449546,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008791625499725342,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020980633578399105,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008791625499725342,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008791832345059397,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1744755208492279,
+              -0.44063723087310797,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1744755208492279,
+              -0.44063723087310797,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17547843443986055,
+              -0.44163090257910115,
+              0.8030120094035675
+            ],
+            "closest_button": [
+              0.17449195683002472,
+              -0.4405792057514191,
+              0.7680172324180603
+            ],
+            "closest_ee_minus_button": [
+              0.000986477609835834,
+              -0.0010516968276820249,
+              0.03499477698550724
+            ],
+            "button_min_z_position": [
+              0.17449195683002472,
+              -0.4405792057514191,
+              0.7680172324180603
+            ],
+            "min_active_finger_to_button": 0.14468005849170415,
+            "closest_active_finger": [
+              0.034545883536338806,
+              -0.42740851640701294,
+              0.8106056451797485
+            ],
+            "closest_active_finger_button": [
+              0.17447714507579806,
+              -0.4406395852565766,
+              0.7763054966926575
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13993126153945926,
+              0.013231068849563654,
+              0.034300148487091064
+            ],
+            "min_contact_pad_to_button": 0.020980633578399105,
+            "closest_contact_pad": [
+              0.17449195683002472,
+              -0.44263776221929285,
+              0.7888966320890188
+            ],
+            "closest_contact_pad_button": [
+              0.17449195683002472,
+              -0.4405792057514191,
+              0.7680172324180603
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002058556467873729,
+              0.02087939967095853
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "27ac6873d41b121b798edf2232095438f15afab362333206988af27362e24928",
+    "visual_seed": 4024989551289229187,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..98ae4cda34bbe83b5b2cfe101af0d56a529d4d45
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2889317930791796,
+              0.3464037281225338,
+              1.0483701654332875
+            ],
+            "current_z": 1.0483701654332875,
+            "required_z": 0.8565863881992758,
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+            "lift_margin": 0.19178377723401174,
+            "gripper_z": 1.0482798628292702,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2833493666404105,
+              0.34126238277084997,
+              1.0482798628292702
+            ],
+            "object_minus_gripper": [
+              0.005582426438769106,
+              0.005141345351683813,
+              9.030260401732271e-05
+            ],
+            "object_to_gripper_xy": 0.007589263269221135,
+            "object_to_gripper_z": 9.030260401732271e-05,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2889317930791796,
+              0.32162158061890816,
+              1.0483701654332875
+            ],
+            "finger_b": [
+              0.27665912242539215,
+              0.3464037281225338,
+              1.0483701654332875
+            ],
+            "finger_midpoint": [
+              0.2827954577522859,
+              0.334012654370721,
+              1.0483701654332875
+            ],
+            "object_minus_finger_midpoint": [
+              0.006136335326893727,
+              0.012391073751812809,
+              0.0
+            ],
+            "finger_gap": 0.027654534526326657,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8030547759168923,
+            "object_to_finger_line_xy": 0.010997948062226053,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784339626470675,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.1452192159138896,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3449256886346447,
+              1.236400339038725
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+            "held_position": [
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+              0.34961861683725276,
+              1.2364060073779477
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007612046422017938,
+            "max_held_gripper_dist": 0.007614007093978972,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 5.668339222664187e-06,
+            "max_held_gripper_z_dist": 0.00017618311861511415,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08859242040447457,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29506869776742406,
+              0.32382002875377897,
+              1.2364060073779477
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+            "held_grasp_midpoint": [
+              0.2898857568451084,
+              0.33671932279551586,
+              1.2364060073779477
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+            "held_grasp_object_position": [
+              0.29506869776742406,
+              0.34961861683725276,
+              1.2364060073779477
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+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.33210083630268805,
+              -0.38324279059288086,
+              0.8470195098140243
+            ],
+            "target_position": [
+              0.32360891429289185,
+              -0.38591549973055816,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008902590272223303,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1883333547152593,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195098140243,
+            "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": 0.075845836802843,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555992631497132,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15591305579639408,
+            "release_required_pad_clearance": 0.05277996315748566,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6078047827117536,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008645415306091309,
+            "max_z_decrease": 0.008645415306091309,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506881404767152,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008645415306091309,
+            "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": 0.02105960859215794,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008645415306091309,
+            "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": 0.00864551631591835,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17930884659290308,
+              -0.4421769678592682,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17930884659290308,
+              -0.4421769678592682,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17996650679928206,
+              -0.43986036863194566,
+              0.8031521573881566
+            ],
+            "closest_button": [
+              0.17933322489261624,
+              -0.4421430230140686,
+              0.7681634426116943
+            ],
+            "closest_ee_minus_button": [
+              0.0006332819066658113,
+              0.0022826543821229395,
+              0.03498871477646226
+            ],
+            "button_min_z_position": [
+              0.17933322489261624,
+              -0.4421430230140686,
+              0.7681634426116943
+            ],
+            "min_active_finger_to_button": 0.14441781181914856,
+            "closest_active_finger": [
+              0.05209624767303467,
+              -0.501086413860321,
+              0.8083470463752747
+            ],
+            "closest_active_finger_button": [
+              0.17931796610355372,
+              -0.442179024219513,
+              0.7736907601356506
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12722171843051905,
+              -0.05890738964080805,
+              0.03465628623962402
+            ],
+            "min_contact_pad_to_button": 0.02105960859215794,
+            "closest_contact_pad": [
+              0.17933322489261624,
+              -0.4421430230140686,
+              0.7892230512038523
+            ],
+            "closest_contact_pad_button": [
+              0.17933322489261624,
+              -0.4421430230140686,
+              0.7681634426116943
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105960859215794
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bd92fee86b9aa776a8a745abf048f0a42cc2b30cb2d84c8245ce815c83b23a55",
+    "visual_seed": 2919555839130239299,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..105cc6d059394f66a0c5ce73b2d10c027ba30335
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_24_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29103507489470043,
+              0.34921922779515485,
+              1.0481599868365203
+            ],
+            "current_z": 1.0481599868365203,
+            "required_z": 0.856586638657076,
+            "initial_z": 0.756586638657076,
+            "lift_margin": 0.19157334817944438,
+            "gripper_z": 1.0476687932741038,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.285565570750841,
+              0.3442168485022904,
+              1.0476687932741038
+            ],
+            "object_minus_gripper": [
+              0.005469504143859438,
+              0.005002379292864456,
+              0.0004911935624165586
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+              0.03497694649312888
+            ],
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+              0.18235865235328672,
+              -0.44382730126380915,
+              0.7680356502532959
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+              -0.425964891910553,
+              0.8077634572982788
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+            "closest_active_finger_button": [
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+              -0.4438842236995697,
+              0.7730087637901306
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+            "closest_active_finger_minus_button": [
+              -0.1423035785555839,
+              0.017919331789016724,
+              0.03475469350814819
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+            "closest_contact_pad": [
+              0.18235865235328672,
+              -0.44554393732142855,
+              0.7890836473158094
+            ],
+            "closest_contact_pad_button": [
+              0.18235865235328672,
+              -0.44382730126380915,
+              0.7680356502532959
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017166360576194029,
+              0.02104799706251348
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "040b2eb01fcfe8cadf88ced1bfd56d3f1c65bdeb759e4e1597a8221bf64d9640",
+    "visual_seed": 9134309140671130209,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..682ec68b81d6e8a9adf07d31f5f4f613918437be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.284735423202151,
+              0.3508064960366373,
+              1.0506523942636514
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+            "gripper_z": 1.0505786205261476,
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+            "gripper_position": [
+              0.2787353535824941,
+              0.3455530882642961,
+              1.0505786205261476
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+              0.006000069619656878,
+              0.005253407772341234,
+              7.377373750383498e-05
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+            "object_to_gripper_z": 7.377373750383498e-05,
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+              0.3256598103180679,
+              1.0506523942636514
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+            "finger_b": [
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+            "finger_midpoint": [
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+              0.3382331531773526,
+              1.0506523942636514
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+              0.012573342859284742,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+              ],
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+            },
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+          }
+        },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3496898540634432,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.007974989128384492,
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+            "held_gripper_z_dist": 4.140848341993575e-06,
+            "max_held_gripper_z_dist": 0.00019070198249671044,
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+            "held_object_xy_range": 0.0883365198374697,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.32873183195733685,
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+              0.3416609639021495,
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+              1.2398786863766091
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9990333674972552,
+              0.021719358718744423
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004979357499328752,
+            "held_grasp_line_xy_max_dist": 0.04748281031847,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3351994775189067,
+              -0.3830592671389952,
+              0.8470194250367753
+            ],
+            "target_position": [
+              0.32655515744366587,
+              -0.3857610600680892,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009056707712790248,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18874445527518488,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194250367753,
+            "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": 0.07525485467467079,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855730250130775,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15792854601895112,
+            "release_required_pad_clearance": 0.05278651250653875,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6205484928675811,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008735358715057373,
+            "max_z_decrease": 0.008735358715057373,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035025917023218354,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008735358715057373,
+            "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": 0.02102114659239533,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008735358715057373,
+            "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": 0.008735532843286051,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1822550892829894,
+              -0.44202253222465515,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1822550892829894,
+              -0.44202253222465515,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1807025622511532,
+              -0.44293780340795813,
+              0.8034273726714641
+            ],
+            "closest_button": [
+              0.1822311282157897,
+              -0.44197136163711553,
+              0.7684481739997864
+            ],
+            "closest_ee_minus_button": [
+              -0.001528565964636519,
+              -0.0009664417708425965,
+              0.03497919867167776
+            ],
+            "button_min_z_position": [
+              0.18222716450691218,
+              -0.44197496771812445,
+              0.7680734992027283
+            ],
+            "min_active_finger_to_button": 0.14720230410323693,
+            "closest_active_finger": [
+              0.03984841704368591,
+              -0.42780011892318726,
+              0.8098029494285583
+            ],
+            "closest_active_finger_button": [
+              0.18225695192813868,
+              -0.44202685356140137,
+              0.7753656506538391
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14240853488445276,
+              0.014226734638214111,
+              0.03443729877471924
+            ],
+            "min_contact_pad_to_button": 0.02102114659239533,
+            "closest_contact_pad": [
+              0.18222716450691218,
+              -0.44401235378499243,
+              0.7889956803049343
+            ],
+            "closest_contact_pad_button": [
+              0.18222716450691218,
+              -0.44197496771812445,
+              0.7680734992027283
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020373860668679855,
+              0.020922181102206006
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "344fddf618d37e96556e9d79191c880008d987b5480316eaa62067785b7df6d8",
+    "visual_seed": 1356596777680006141,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e330f001a8de4d44c86cb8909c3468a7384ad935
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_26_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28387537858229817,
+              0.3459017355038441,
+              1.0509894186469033
+            ],
+            "current_z": 1.0509894186469033,
+            "required_z": 0.8565865857052231,
+            "initial_z": 0.7565865857052231,
+            "lift_margin": 0.19440283294168026,
+            "gripper_z": 1.0508456255071092,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27872575065256594,
+              0.34096583286464893,
+              1.0508456255071092
+            ],
+            "object_minus_gripper": [
+              0.005149627929732226,
+              0.004935902639195189,
+              0.00014379313979406838
+            ],
+            "object_to_gripper_xy": 0.0071331481604052106,
+            "object_to_gripper_z": 0.00014379313979406838,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28387537858229817,
+              0.3214597310968914,
+              1.0509894186469033
+            ],
+            "finger_b": [
+              0.271845776375923,
+              0.3459017355038441,
+              1.0509894186469033
+            ],
+            "finger_midpoint": [
+              0.2778605774791106,
+              0.33368073330036774,
+              1.0509894186469033
+            ],
+            "object_minus_finger_midpoint": [
+              0.006014801103187584,
+              0.012221002203476383,
+              0.0
+            ],
+            "finger_gap": 0.02724193291000332,
+            "fingertip_max_gap": 0.09194833718497822,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013620966455001686,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0509894186469033,
+            "object_top_z": 1.0973092943162375,
+            "finger_top_clearance": 0.046319875669334154,
+            "fingertip_min_top_clearance": 0.013895962700800246,
+            "object_projection_between_fingers": 0.805003554596687,
+            "object_to_finger_line_xy": 0.01079319852645779,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04847416859248911,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7954535216689064,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7b7a3fa7860a84aa763b5c48b861c0a7a55a9297ef74ec1889f77c967d99c17f",
+    "visual_seed": 9177356987728974800,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b19f2258f5bec2c2b7ca0468f571e4b81ada23b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_27_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.3520303152751765,
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+              0.34679099867298696,
+              1.0483257827546784
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+              0.005239316602189514,
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+              0.3268877451882691,
+              1.0484527955496146
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+              1.0484527955496146
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+              0.33945903023172275,
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+              0.0,
+              1.0
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+            "stable_success_frames": 227,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+              "source_missing": false,
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+                {
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "virtual_attach_allowed": false,
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+            "held_gripper_z_dist": 5.946736838580158e-05,
+            "max_held_gripper_z_dist": 0.00014556874519655594,
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+              0.3433874196094916,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15683399323151176,
+            "release_required_pad_clearance": 0.053145805402917315,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.316387843241545,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00880211591720581,
+            "max_z_decrease": 0.00880211591720581,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499930199378327,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00880211591720581,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020959799612182577,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00880211591720581,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008802311807767221,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17508289217948908,
+              -0.4442955553531646,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17508289217948908,
+              -0.4442955553531646,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1736635460171213,
+              -0.44394815724056846,
+              0.8036570845506857
+            ],
+            "closest_button": [
+              0.17510217428207392,
+              -0.4442779421806335,
+              0.7686889171600342
+            ],
+            "closest_ee_minus_button": [
+              -0.0014386282649526128,
+              0.00032978494006502546,
+              0.03496816739065156
+            ],
+            "button_min_z_position": [
+              0.17511649429798123,
+              -0.4442473948001861,
+              0.7680067420005798
+            ],
+            "min_active_finger_to_button": 0.14704246179544594,
+            "closest_active_finger": [
+              0.04572506248950958,
+              -0.5051223039627075,
+              0.8107048273086548
+            ],
+            "closest_active_finger_button": [
+              0.17508730292320246,
+              -0.44429934024810785,
+              0.7762452363967896
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12936224043369288,
+              -0.060822963714599665,
+              0.034459590911865234
+            ],
+            "min_contact_pad_to_button": 0.020959799612182577,
+            "closest_contact_pad": [
+              0.17511649429798123,
+              -0.44524459818429485,
+              0.7889428062246304
+            ],
+            "closest_contact_pad_button": [
+              0.17511649429798123,
+              -0.4442473948001861,
+              0.7680067420005798
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009972033841087469,
+              0.020936064224050588
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7c12a781111b62173a04f4f11bc661fb247bb308ee08e05dc6027a038258623e",
+    "visual_seed": 1310526172455345744,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3305cc8b18494ffaf0c45d80e139cb9ccd711d0e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_28_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2899858971886332,
+              0.34791245211750194,
+              1.0498932489293717
+            ],
+            "current_z": 1.0498932489293717,
+            "required_z": 0.8565866246778598,
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+            "lift_margin": 0.1933066242515119,
+            "gripper_z": 1.0494875520881726,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28464370231635694,
+              0.342935754764874,
+              1.0494875520881726
+            ],
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+              0.0053421948722762735,
+              0.004976697352627957,
+              0.0004056968411991768
+            ],
+            "object_to_gripper_xy": 0.007301134336048682,
+            "object_to_gripper_z": 0.0004056968411991768,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2899858971886332,
+              0.32324519466021967,
+              1.0498932489293717
+            ],
+            "finger_b": [
+              0.2780164251989533,
+              0.34791245211750194,
+              1.0498932489293717
+            ],
+            "finger_midpoint": [
+              0.28400116119379326,
+              0.3355788233888608,
+              1.0498932489293717
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059847359948399514,
+              0.012333628728641133,
+              0.0
+            ],
+            "finger_gap": 0.027417911119842434,
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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": 0.010768655785140625,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048431123925963146,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6904885601187979,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2903883986739505,
+              0.3464447246857495,
+              1.239093890792276
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+            "held_position": [
+              0.29610480781467685,
+              0.3509949070309814,
+              1.2394223437169587
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007313643015814529,
+            "max_held_gripper_dist": 0.007316104610420695,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003284529246827539,
+            "max_held_gripper_z_dist": 0.0004194335943414895,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08852101383691457,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29610480781467685,
+              0.32530309859857975,
+              1.2394223437169587
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+              0.2860529473504507,
+              0.3509949070309814,
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+            "held_grasp_midpoint": [
+              0.2910788775825638,
+              0.33814900281478055,
+              1.2394223437169587
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+            "held_grasp_object_position": [
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+              0.3509949070309814,
+              1.2394223437169587
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+            "held_grasp_finger_gap": 0.02758820253875734,
+            "held_grasp_max_gap": 0.12496559083461761,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02474745612702747,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08443258425570013,
+              -0.9962771110467552,
+              0.017408524355490118
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+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "fr3_rightfinger",
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+                "joint3",
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+                "joint6",
+                "joint7",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
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+                "link0",
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+            },
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+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32910520453950126,
+              -0.3845265054058929,
+              0.8470197663247371
+            ],
+            "target_position": [
+              0.32120956028869896,
+              -0.38670073426129103,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008189534129049917,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18569763192639338,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197663247371,
+            "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": 0.07536808875446012,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08614008094304092,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15449785766729068,
+            "release_required_pad_clearance": 0.05307004047152046,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1690058233008618,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008851468563079834,
+            "max_z_decrease": 0.008851468563079834,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499800413632337,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008851468563079834,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020879887069017118,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008851468563079834,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008851778064589255,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17690949141979215,
+              -0.4429621994495392,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17690949141979215,
+              -0.4429621994495392,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17507948521613936,
+              -0.44347038629830904,
+              0.8033731020551902
+            ],
+            "closest_button": [
+              0.17696864902973172,
+              -0.44293442368507385,
+              0.768430233001709
+            ],
+            "closest_ee_minus_button": [
+              -0.0018891638135923594,
+              -0.0005359626132351858,
+              0.03494286905348121
+            ],
+            "button_min_z_position": [
+              0.17696978151798243,
+              -0.4429192543029785,
+              0.7679573893547058
+            ],
+            "min_active_finger_to_button": 0.14754265080797122,
+            "closest_active_finger": [
+              0.03406704217195511,
+              -0.4292524456977844,
+              0.8104836344718933
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+            "closest_active_finger_button": [
+              0.1769105494022369,
+              -0.44296497106552124,
+              0.776183009147644
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1428435072302818,
+              0.013712525367736816,
+              0.03430062532424927
+            ],
+            "min_contact_pad_to_button": 0.020879887069017118,
+            "closest_contact_pad": [
+              0.17696978151798243,
+              -0.44442296445844764,
+              0.7887830595668082
+            ],
+            "closest_contact_pad_button": [
+              0.17696978151798243,
+              -0.4429192543029785,
+              0.7679573893547058
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001503710155469129,
+              0.020825670212102354
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eed6f27c82baa917f789e93dc6ad1f80b266f91c220a3e595457b4df7aa7d7f1",
+    "visual_seed": 5261500633398260443,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..667063ccb13e34dfd05b0e6b391108aa520263c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_29_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.35224545627472886,
+              1.0481759799011348
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+            "current_z": 1.0481759799011348,
+            "required_z": 0.8565862689899865,
+            "initial_z": 0.7565862689899865,
+            "lift_margin": 0.1915897109111483,
+            "gripper_z": 1.0478760592638408,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.28431130139246863,
+              0.3471199186232739,
+              1.0478760592638408
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+              0.005555546248457888,
+              0.005125537651454959,
+              0.0002999206372940044
+            ],
+            "object_to_gripper_xy": 0.007558784977444254,
+            "object_to_gripper_z": 0.0002999206372940044,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2898668476409265,
+              0.32747851120961796,
+              1.0481759799011348
+            ],
+            "finger_b": [
+              0.27762230072749056,
+              0.35224545627472886,
+              1.0481759799011348
+            ],
+            "finger_midpoint": [
+              0.2837445741842085,
+              0.3398619837421734,
+              1.0481759799011348
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+              -0.06112891435623169,
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+              0.18090464174747467,
+              -0.4405559869000078,
+              0.7891085186149713
+            ],
+            "closest_contact_pad_button": [
+              0.18090464174747467,
+              -0.4404352009296417,
+              0.7681354284286499
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00012078597036607741,
+              0.02097309018632143
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6fe2080d92bb0b978f06b52baf3790b00c80a19ebe7ccc98128ec7dcc81ce890",
+    "visual_seed": 955177170684519800,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..981e13ebe28124dcf13f3aaa8fdba1c3fba41efa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_2_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.35135968936016865,
+              1.0502545408532573
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+              0.005046274623380531,
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+              0.3265800480747847,
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+              0.35135968936016865,
+              1.0502545408532573
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+              0.3389698687174767,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
+            ],
+            "stable_success_frames": 229,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.00028304499310616293,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              0.008834705834049885
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+            "held_grasp_object_to_finger_line_xy": 0.004171329105326026,
+            "held_grasp_line_xy_max_dist": 0.047482948154211044,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
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+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3311289644781032,
+              -0.3807150590350416,
+              0.8470195955100005
+            ],
+            "target_position": [
+              0.32258014059771944,
+              -0.3832692200228204,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008922226632926925,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18697601543395934,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195955100005,
+            "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": 0.07512916497964992,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08642275421984506,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15646983705705123,
+            "release_required_pad_clearance": 0.053211377109922534,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4439848037858283,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008797883987426758,
+            "max_z_decrease": 0.008797883987426758,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035041878045555135,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008797883987426758,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021042777008343116,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008797883987426758,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008798032915967875,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1782800704240799,
+              -0.4395306706428527,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1782800704240799,
+              -0.4395306706428527,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1792223431607494,
+              -0.43781458754068564,
+              0.8030009143448109
+            ],
+            "closest_button": [
+              0.17829766869544983,
+              -0.43948259949684143,
+              0.7680109739303589
+            ],
+            "closest_ee_minus_button": [
+              0.0009246744652995631,
+              0.0016680119561557905,
+              0.034989940414452025
+            ],
+            "button_min_z_position": [
+              0.17829766869544983,
+              -0.43948259949684143,
+              0.7680109739303589
+            ],
+            "min_active_finger_to_button": 0.14440992436012373,
+            "closest_active_finger": [
+              0.05140867084264755,
+              -0.49916568398475647,
+              0.8090662360191345
+            ],
+            "closest_active_finger_button": [
+              0.1782897412776947,
+              -0.4395339488983154,
+              0.7744327783584595
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12688107043504715,
+              -0.059631735086441096,
+              0.03463345766067505
+            ],
+            "min_contact_pad_to_button": 0.021042777008343116,
+            "closest_contact_pad": [
+              0.17829766869544983,
+              -0.43948259949684143,
+              0.789053750938702
+            ],
+            "closest_contact_pad_button": [
+              0.17829766869544983,
+              -0.43948259949684143,
+              0.7680109739303589
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021042777008343116
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9b5c053a1b4839de4f3b064698dfcbd1bfa126baf38e8ee9f20c3d776e61f472",
+    "visual_seed": 3288131198757578910,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d4ffe57db4b69b06d20471f9c4740ddfb128e9c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29006752783803313,
+              0.34404062875973285,
+              1.0486256346075573
+            ],
+            "current_z": 1.0486256346075573,
+            "required_z": 0.8565866618064516,
+            "initial_z": 0.7565866618064516,
+            "lift_margin": 0.1920389728011057,
+            "gripper_z": 1.0485299390490708,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2845257536755593,
+              0.33897395557031074,
+              1.0485299390490708
+            ],
+            "object_minus_gripper": [
+              0.0055417741624738115,
+              0.005066673189422111,
+              9.569555848654154e-05
+            ],
+            "object_to_gripper_xy": 0.007508824014202966,
+            "object_to_gripper_z": 9.569555848654154e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29006752783803313,
+              0.31921820669630246,
+              1.0486256346075573
+            ],
+            "finger_b": [
+              0.2779857506839975,
+              0.34404062875973285,
+              1.0486256346075573
+            ],
+            "finger_midpoint": [
+              0.28402663926101535,
+              0.3316294177280177,
+              1.0486256346075573
+            ],
+            "object_minus_finger_midpoint": [
+              0.006040888577017789,
+              0.012411211031715164,
+              0.0
+            ],
+            "finger_gap": 0.027606556762748462,
+            "fingertip_max_gap": 0.09103827346672946,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013803278381374193,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486256346075573,
+            "object_top_z": 1.0942485599019611,
+            "finger_top_clearance": 0.045622925294403815,
+            "fingertip_min_top_clearance": 0.01368687758832111,
+            "object_projection_between_fingers": 0.8084698463762655,
+            "object_to_finger_line_xy": 0.01086332404186165,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048019136733364734,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3149762329070987,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+    "forbidden_shortcuts_absent": true
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff10bb690d56b19364ea1407b8b95da4f9d15c0ad8a7b41a6670089826e3f040",
+    "visual_seed": 3037414888686624314,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      3930001998081723350,
+      4554555277898534358,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..382a8e401ae5e6650254bc15cc60e55e3b09a899
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_31_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "reason": "executed",
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+              0.34834027843826554,
+              1.048820065834064
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+            "gripper_position": [
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+              0.34317630117909637,
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+              0.005163977259169172,
+              6.974670561255003e-05
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+            "object_to_gripper_z": 6.974670561255003e-05,
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+              0.32321820637721543,
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+              1.048820065834064
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+              0.3357792424077405,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+        "skill": "pick",
+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.34726654965681447,
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+              0.3521103496048081,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 9.605343948448919e-06,
+            "max_held_gripper_z_dist": 0.00017836797612336142,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.33921032745448,
+              1.2388941138216003
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+              0.3521103496048081,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9991830362709899,
+              0.019657561644310425
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+            "held_grasp_object_to_finger_line_xy": 0.004966971166179679,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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+      "physical_semantics": {
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1565030564410624,
+            "release_required_pad_clearance": 0.05333903454743856,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6920693605772659,
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+            "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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008773624897003174,
+            "max_z_decrease": 0.008773624897003174,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350035243374623,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008773624897003174,
+            "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": 0.02093835510359859,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008773624897003174,
+            "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": 0.008773912045405471,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18000482022762299,
+              -0.44529226422309875,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18000482022762299,
+              -0.44529226422309875,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17829232574292822,
+              -0.4462248524159954,
+              0.8033615026252005
+            ],
+            "closest_button": [
+              0.18007002770900726,
+              -0.44526007771492004,
+              0.7684164643287659
+            ],
+            "closest_ee_minus_button": [
+              -0.0017777019660790427,
+              -0.000964774701075366,
+              0.03494503829643458
+            ],
+            "button_min_z_position": [
+              0.18006138503551483,
+              -0.44524937868118286,
+              0.7680352330207825
+            ],
+            "min_active_finger_to_button": 0.14739265966894013,
+            "closest_active_finger": [
+              0.03729096055030823,
+              -0.431989461183548,
+              0.8109108209609985
+            ],
+            "closest_active_finger_button": [
+              0.18000659346580505,
+              -0.4452945590019226,
+              0.7765623331069946
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14271563291549683,
+              0.013305097818374634,
+              0.034348487854003906
+            ],
+            "min_contact_pad_to_button": 0.02093835510359859,
+            "closest_contact_pad": [
+              0.18006138503551483,
+              -0.44718585843293135,
+              0.788883848337284
+            ],
+            "closest_contact_pad_button": [
+              0.18006138503551483,
+              -0.44524937868118286,
+              0.7680352330207825
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019364797517484877,
+              0.020848615316501506
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "784873fe760cebafa45606db6b1c847a54a60eae819c607c70ca0269f3c79183",
+    "visual_seed": 3302113086407821389,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d665490a366c8437db0f3a8e44d66596c1689e6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_32_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28372451838199864,
+              0.3467905729270498,
+              1.0495561548996573
+            ],
+            "current_z": 1.0495561548996573,
+            "required_z": 0.856586545046947,
+            "initial_z": 0.756586545046947,
+            "lift_margin": 0.19296960985271028,
+            "gripper_z": 1.0495696935110923,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2783391841989048,
+              0.34169770331498117,
+              1.0495696935110923
+            ],
+            "object_minus_gripper": [
+              0.005385334183093837,
+              0.005092869612068618,
+              -1.3538611435048864e-05
+            ],
+            "object_to_gripper_xy": 0.0074120945183619264,
+            "object_to_gripper_z": -1.3538611435048864e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28372451838199864,
+              0.3222256617433764,
+              1.0495561548996573
+            ],
+            "finger_b": [
+              0.2714114269708125,
+              0.3467905729270498,
+              1.0495561548996573
+            ],
+            "finger_midpoint": [
+              0.27756797267640554,
+              0.33450811733521313,
+              1.0495561548996573
+            ],
+            "object_minus_finger_midpoint": [
+              0.006156545705593097,
+              0.01228245559183666,
+              0.0
+            ],
+            "finger_gap": 0.027478120051451612,
+            "fingertip_max_gap": 0.09169544452135839,
+            "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": 1.0495561548996573,
+            "object_top_z": 1.0957867738258722,
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+            "fingertip_min_top_clearance": 0.013869185677864448,
+            "object_projection_between_fingers": 0.7992016341728235,
+            "object_to_finger_line_xy": 0.011007667058222204,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048347722260679196,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7758646389285334,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2842282442503868,
+              0.3450752663601846,
+              1.2389487412311766
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+            "held_position": [
+              0.290064077519241,
+              0.34964623254775024,
+              1.2388548469937917
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00741346733705277,
+            "max_held_gripper_dist": 0.00741607537801898,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 9.38942373849283e-05,
+            "max_held_gripper_z_dist": 0.0002674496610688415,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08883256085641522,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.290064077519241,
+              0.3238418827212683,
+              1.2388548469937917
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+              0.34964623254775024,
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+            "held_grasp_midpoint": [
+              0.28504478625278223,
+              0.33674405763450926,
+              1.2388548469937917
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+            "held_grasp_object_position": [
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+              0.34964623254775024,
+              1.2388548469937917
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+            "held_grasp_finger_gap": 0.027688221489248026,
+            "held_grasp_max_gap": 0.12496577709913254,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024752271794693165,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09305434352951396,
+              -0.995429285178104,
+              0.021480860320297838
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038073777529836327,
+            "held_grasp_line_xy_max_dist": 0.04748288854956627,
+            "held_grasp_object_top_z": 0.04520062357187271,
+            "held_grasp_top_clearance": 0.03189035396695864,
+            "held_grasp_min_top_clearance": 0.013560187071561813
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+                "beaker_b"
+              ],
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+              ],
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3251495089151939,
+              -0.3906380063893086,
+              0.8470195585815874
+            ],
+            "target_position": [
+              0.3175798375314796,
+              -0.39262942751368407,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007827239804173094,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1853267178114833,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195585815874,
+            "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": 0.0758569004052594,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496536721654561,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1529463601435072,
+            "release_required_pad_clearance": 0.05248268360827281,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.039564670645382875,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008828341960906982,
+            "max_z_decrease": 0.008828341960906982,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035072982819021034,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008828341960906982,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021090717077722178,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008828341960906982,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008828726482120944,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1732797622680664,
+              -0.4488908946514129,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1732797622680664,
+              -0.4488908946514129,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17495730958513897,
+              -0.4501984784331477,
+              0.8033584467193663
+            ],
+            "closest_button": [
+              0.17324009537696838,
+              -0.4488368928432464,
+              0.7683539986610413
+            ],
+            "closest_ee_minus_button": [
+              0.0017172142081705866,
+              -0.001361585589901293,
+              0.03500444805832503
+            ],
+            "button_min_z_position": [
+              0.17322510480880737,
+              -0.4488292336463928,
+              0.7679805159568787
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+            "min_active_finger_to_button": 0.1440218030580798,
+            "closest_active_finger": [
+              0.03426855802536011,
+              -0.43363842368125916,
+              0.8108680248260498
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+            "closest_active_finger_button": [
+              0.17328256368637085,
+              -0.44889259338378906,
+              0.7764486074447632
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13901400566101074,
+              0.015254169702529907,
+              0.03441941738128662
+            ],
+            "min_contact_pad_to_button": 0.021090717077722178,
+            "closest_contact_pad": [
+              0.17322510480880737,
+              -0.4514030324534183,
+              0.7889135975874814
+            ],
+            "closest_contact_pad_button": [
+              0.17322510480880737,
+              -0.4488292336463928,
+              0.7679805159568787
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025737988070254625,
+              0.0209330816306027
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b60b4ffaf7440df244f3910a58527505adede5fb1ba96488b1d150c93c79e320",
+    "visual_seed": 7049034952272994994,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c6f5b2b7b7d56f693ffef95ba92ec642729f2ea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_33_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.29206539732505227,
+              0.3548747435103456,
+              1.048328924996456
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+            "current_z": 1.048328924996456,
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+            "initial_z": 0.7565866469314203,
+            "lift_margin": 0.19174227806503574,
+            "gripper_z": 1.047964214950258,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2865022085715567,
+              0.34976323793679687,
+              1.047964214950258
+            ],
+            "object_minus_gripper": [
+              0.00556318875349554,
+              0.005111505573548725,
+              0.0003647100461980912
+            ],
+            "object_to_gripper_xy": 0.007554902933555066,
+            "object_to_gripper_z": 0.0003647100461980912,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29206539732505227,
+              0.33010628616144394,
+              1.048328924996456
+            ],
+            "finger_b": [
+              0.27983851711710267,
+              0.3548747435103456,
+              1.048328924996456
+            ],
+            "finger_midpoint": [
+              0.28595195722107747,
+              0.34249051483589477,
+              1.048328924996456
+            ],
+            "object_minus_finger_midpoint": [
+              0.006113440103974799,
+              0.012384228674450826,
+              0.0
+            ],
+            "finger_gap": 0.02762196732790606,
+            "fingertip_max_gap": 0.09083799146976704,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01381098366395303,
+            "object_to_finger_midpoint_z": 0.0,
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+            "closest_contact_pad": [
+              0.17436280846595764,
+              -0.4404843434253266,
+              0.7889930126301214
+            ],
+            "closest_contact_pad_button": [
+              0.17436280846595764,
+              -0.4398260712623596,
+              0.7680841088294983
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006582721629669885,
+              0.020908903800623158
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eb6001d24260aaf64457b1a8cc184dcff16bad1f8f19ad0459d61c6d87cd22ff",
+    "visual_seed": 4681592030158251485,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eacfba6f65e37a8317b856e0b9940c04ae935c52
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.34981718379499355,
+              1.0496914571821006
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+            "gripper_z": 1.0492471343753194,
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+              0.3447192079389995,
+              1.0492471343753194
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+              0.00509797585599403,
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+            "object_to_gripper_z": 0.0004443228067811944,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.32533378121931544,
+              1.0496914571821006
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+              1.0496914571821006
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+            "finger_midpoint": [
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+              0.3375754825071545,
+              1.0496914571821006
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+              0.012241701287839024,
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+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048167374856063885,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.34780977473816993,
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+              0.35235410753375357,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007386997931021067,
+            "max_held_gripper_dist": 0.007389013419225569,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003670066943517458,
+            "max_held_gripper_z_dist": 0.00046025994714793406,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08880894372407844,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.33943774536952026,
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+              0.35235410753375357,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024708899764503137,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              0.01914886327349674
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003666910619388477,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.3251313717508952,
+              -0.3852022399559336,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.008080127975218858,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18715593163399694,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197088613367,
+            "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": 0.07579552783507765,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08511047212192567,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15495076457597767,
+            "release_required_pad_clearance": 0.05255523606096284,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.17693762539076663,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008749425411224365,
+            "max_z_decrease": 0.008749425411224365,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501738762695722,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008749425411224365,
+            "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": 0.020982465875574452,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008749425411224365,
+            "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": 0.008749679616231862,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18083129823207855,
+              -0.4414637088775634,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18083129823207855,
+              -0.4414637088775634,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18183648047850584,
+              -0.44119556515732145,
+              0.8034327698563406
+            ],
+            "closest_button": [
+              0.1807952970266342,
+              -0.4414137005805969,
+              0.768431544303894
+            ],
+            "closest_ee_minus_button": [
+              0.0010411834518716523,
+              0.0002181354232754784,
+              0.03500122555244656
+            ],
+            "button_min_z_position": [
+              0.18078669905662537,
+              -0.44141411781311035,
+              0.7680594325065613
+            ],
+            "min_active_finger_to_button": 0.14486361083450375,
+            "closest_active_finger": [
+              0.04102466255426407,
+              -0.42575252056121826,
+              0.8104639649391174
+            ],
+            "closest_active_finger_button": [
+              0.1808357983827591,
+              -0.4414661526679992,
+              0.7759473919868469
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13981113582849503,
+              0.01571363210678095,
+              0.03451657295227051
+            ],
+            "min_contact_pad_to_button": 0.020982465875574452,
+            "closest_contact_pad": [
+              0.18078669905662537,
+              -0.44230126158542693,
+              0.7890231356657573
+            ],
+            "closest_contact_pad_button": [
+              0.18078669905662537,
+              -0.44141411781311035,
+              0.7680594325065613
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008871437723165787,
+              0.020963703159196045
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "13ece6ccbad9c8dd50f9dd34084dbc5d9fc9bf88c6837ef3874967cdc17d0b35",
+    "visual_seed": 1960110283223599186,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..903807ca3a2a6d6fb2a468be01b6cdc0df72e5e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_36_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28994370966344585,
+              0.3454360241917908,
+              1.0483600445325993
+            ],
+            "current_z": 1.0483600445325993,
+            "required_z": 0.8565866253280899,
+            "initial_z": 0.75658662532809,
+            "lift_margin": 0.1917734192045094,
+            "gripper_z": 1.0482652463563644,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28444523630424257,
+              0.3403091481695464,
+              1.0482652463563644
+            ],
+            "object_minus_gripper": [
+              0.005498473359203282,
+              0.005126876022244431,
+              9.479817623492259e-05
+            ],
+            "object_to_gripper_xy": 0.007517849894041055,
+            "object_to_gripper_z": 9.479817623492259e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28994370966344585,
+              0.32077283408216295,
+              1.0483600445325993
+            ],
+            "finger_b": [
+              0.27760950319225347,
+              0.3454360241917908,
+              1.0483600445325993
+            ],
+            "finger_midpoint": [
+              0.28377660642784963,
+              0.3331044291369769,
+              1.0483600445325993
+            ],
+            "object_minus_finger_midpoint": [
+              0.006167103235596216,
+              0.012331595054813904,
+              0.0
+            ],
+            "finger_gap": 0.027575452773393398,
+            "fingertip_max_gap": 0.0917122984106544,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013787726386696687,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0483600445325993,
+            "object_top_z": 1.0945097790588374,
+            "finger_top_clearance": 0.04614973452623805,
+            "fingertip_min_top_clearance": 0.013844920357871382,
+            "object_projection_between_fingers": 0.7999322333465609,
+            "object_to_finger_line_xy": 0.011031582384167864,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0483561492053272,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6828431675502884,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
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+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
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+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1f58691a5cf4b8a6644c292a02e37d51c7603d7cfef8924bc33ff481676b32ae",
+    "visual_seed": 1197077668853081646,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      3930001998081723350,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1509c14d2f7f592f4964e3f23913b15ab56f82c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_37_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.3525141541848364,
+              1.0483785088412025
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+              1.047964113367927
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+              0.005061345108633486,
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+            "fingertip_source": "active_contact_pad_positions",
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+              0.32782230359092646,
+              1.0483785088412025
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+              1.0483785088412025
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+              0.34016822888788145,
+              1.0483785088412025
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+              "failed_keys": []
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+          }
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+      },
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.3558405711925912,
+              1.2395880537188089
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+            "held_shake_count": 5,
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+              0.3301134457009415,
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+              0.3429770084467664,
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+              0.3558405711925912,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+        },
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "target": "heater_platform",
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+          "metrics": {
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+            "release_min_pad_clearance": 0.1532471589602398,
+            "release_required_pad_clearance": 0.05257570562186627,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.21670467464713108,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008732020854949951,
+            "max_z_decrease": 0.008732020854949951,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499560373321778,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008732020854949951,
+            "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": 0.02091522401373384,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008732020854949951,
+            "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": 0.008732152768337033,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18289244174957275,
+              -0.4409445524215699,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18289244174957275,
+              -0.4409445524215699,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18192100423636978,
+              -0.4406433977366416,
+              0.8034320803313324
+            ],
+            "closest_button": [
+              0.18288318812847135,
+              -0.4408875107765198,
+              0.7684505581855774
+            ],
+            "closest_ee_minus_button": [
+              -0.0009621838921015646,
+              0.0002441130398782021,
+              0.034981522145755006
+            ],
+            "button_min_z_position": [
+              0.18288360536098477,
+              -0.4408973753452301,
+              0.7680768370628357
+            ],
+            "min_active_finger_to_button": 0.14658689965950944,
+            "closest_active_finger": [
+              0.05565459281206131,
+              -0.5051200985908508,
+              0.8109397888183594
+            ],
+            "closest_active_finger_button": [
+              0.18289449810981745,
+              -0.4409468173980713,
+              0.7765957117080688
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12723990529775614,
+              -0.06417328119277954,
+              0.03434407711029053
+            ],
+            "min_contact_pad_to_button": 0.02091522401373384,
+            "closest_contact_pad": [
+              0.18288360536098477,
+              -0.4416571248384687,
+              0.788978257499069
+            ],
+            "closest_contact_pad_button": [
+              0.18288360536098477,
+              -0.4408973753452301,
+              0.7680768370628357
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007597494932385929,
+              0.02090142043623333
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "75e787d3dfeae01cafdb48b4718ee8b2fcb51c8bd1b3052f9a42250b25698d51",
+    "visual_seed": 6170847744933752272,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc80d7d8e0299191706f4663132524cee402fa80
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_38_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28402860941296426,
+              0.3490922517149819,
+              1.0487547011990401
+            ],
+            "current_z": 1.0487547011990401,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.1921683726044089,
+            "gripper_z": 1.0488377116846606,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27802163214424724,
+              0.3437910744379694,
+              1.0488377116846606
+            ],
+            "object_minus_gripper": [
+              0.0060069772687170175,
+              0.005301177277012514,
+              -8.301048562042723e-05
+            ],
+            "object_to_gripper_xy": 0.008011632569532677,
+            "object_to_gripper_z": -8.301048562042723e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28402860941296426,
+              0.32397562824522685,
+              1.0487547011990401
+            ],
+            "finger_b": [
+              0.2715726795696648,
+              0.3490922517149819,
+              1.0487547011990401
+            ],
+            "finger_midpoint": [
+              0.27780064449131453,
+              0.3365339399801044,
+              1.0487547011990401
+            ],
+            "object_minus_finger_midpoint": [
+              0.006227964921649731,
+              0.012558311734877536,
+              0.0
+            ],
+            "finger_gap": 0.028035601701812102,
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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": 1.0487547011990401,
+            "object_top_z": 1.0949973648601214,
+            "finger_top_clearance": 0.04624266366108132,
+            "fingertip_min_top_clearance": 0.013872799098324428,
+            "object_projection_between_fingers": 0.8026066379459715,
+            "object_to_finger_line_xy": 0.0111590577996982,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04899732282932574,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0308704767368992,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2835782482146497,
+              0.3478597820811684,
+              1.2402178042354444
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+            "held_position": [
+              0.2899123333520538,
+              0.3527670237100269,
+              1.2400890019326123
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008013628701474733,
+            "max_held_gripper_dist": 0.008016061359420021,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00012880230283207617,
+            "max_held_gripper_z_dist": 0.0003233944558735935,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08888983453282856,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2899123333520538,
+              0.3268329321799737,
+              1.2400890019326123
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+              0.3527670237100269,
+              1.2400890019326123
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+            "held_grasp_midpoint": [
+              0.2844429238764615,
+              0.3397999779450003,
+              1.2400890019326123
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+            "held_grasp_object_position": [
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+              0.3527670237100269,
+              1.2400890019326123
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+            "held_grasp_finger_gap": 0.028146667005810325,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025369072004093426,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.048600316204184396,
+              -0.9987125260974288,
+              0.01453614395036984
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004836493616898853,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03198405890383617,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.33493154246398305,
+              -0.3901997336105475,
+              0.8470197713605826
+            ],
+            "target_position": [
+              0.32644373445817787,
+              -0.3929874824310984,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008933892109819397,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18857084679375338,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197713605826,
+            "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": 0.07563771176898856,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08730457820828051,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15669477470699134,
+            "release_required_pad_clearance": 0.05365228910414026,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.313812170187827,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.009044289588928223,
+            "max_z_decrease": 0.009044289588928223,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507835287198652,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.009044289588928223,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 81,
+            "contact_point_distance": 0.021064145558052676,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.009044289588928223,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 81,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.009044686936637928,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1821436583995819,
+              -0.4492489397525787,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1821436583995819,
+              -0.4492489397525787,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18395606843453788,
+              -0.45076206694822596,
+              0.8027587083761085
+            ],
+            "closest_button": [
+              0.18212448060512543,
+              -0.4491663575172424,
+              0.7677645683288574
+            ],
+            "closest_ee_minus_button": [
+              0.001831587829412451,
+              -0.0015957094309835829,
+              0.0349941400472511
+            ],
+            "button_min_z_position": [
+              0.18212448060512543,
+              -0.4491663575172424,
+              0.7677645683288574
+            ],
+            "min_active_finger_to_button": 0.14389090314283864,
+            "closest_active_finger": [
+              0.04295174032449722,
+              -0.43715256452560425,
+              0.8105756044387817
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+            "closest_active_finger_button": [
+              0.18214666843414307,
+              -0.4492509067058563,
+              0.7761809229850769
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13919492810964584,
+              0.012098342180252075,
+              0.034394681453704834
+            ],
+            "min_contact_pad_to_button": 0.021064145558052676,
+            "closest_contact_pad": [
+              0.18212448060512543,
+              -0.4517152410266982,
+              0.7886739303694854
+            ],
+            "closest_contact_pad_button": [
+              0.18212448060512543,
+              -0.4491663575172424,
+              0.7677645683288574
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025488835094558127,
+              0.020909362040627988
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a6402ae552e224e29211a92651ccd99f489312323e6a008582911f605834e360",
+    "visual_seed": 8900495102092095831,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c6cf4db0d1f1fee1f56f4c6629a5392df1b013b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_40_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2896723334934627,
+              0.34932537370544076,
+              1.0502142183118932
+            ],
+            "current_z": 1.0502142183118932,
+            "required_z": 0.8565865837948045,
+            "initial_z": 0.7565865837948045,
+            "lift_margin": 0.19362763451708875,
+            "gripper_z": 1.049945663058371,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28430316681169054,
+              0.34428493489207634,
+              1.049945663058371
+            ],
+            "object_minus_gripper": [
+              0.005369166681772175,
+              0.005040438813364412,
+              0.0002685552535222069
+            ],
+            "object_to_gripper_xy": 0.007364371954750986,
+            "object_to_gripper_z": 0.0002685552535222069,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2896723334934627,
+              0.3247681014254823,
+              1.0502142183118932
+            ],
+            "finger_b": [
+              0.27742455136476396,
+              0.34932537370544076,
+              1.0502142183118932
+            ],
+            "finger_midpoint": [
+              0.28354844242911337,
+              0.33704673756546155,
+              1.0502142183118932
+            ],
+            "object_minus_finger_midpoint": [
+              0.006123891064349352,
+              0.012278636139979204,
+              0.0
+            ],
+            "finger_gap": 0.02744208062272409,
+            "fingertip_max_gap": 0.09223086682764972,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01372104031136201,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0502142183118932,
+            "object_top_z": 1.0966526516885864,
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+              -0.44805291295051575,
+              0.768077552318573
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00031058503215158906,
+              0.020868981996482905
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6582ed60062256f67ef7664482ceabc90718cd3e2597f6d07edb1432f3a63ee0",
+    "visual_seed": 1542606841797283080,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..21eedb41fc6ad5a12913215f0eefd03cc7881941
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_41_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.35109622314719513,
+              1.050720164954572
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+            "lift_margin": 0.1941334447419224,
+            "gripper_z": 1.0508390157541871,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2791129308374498,
+              0.34605035566605624,
+              1.0508390157541871
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+              0.005045867481138888,
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+            "object_to_gripper_z": -0.00011885079961504452,
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+              0.3262977844262301,
+              1.050720164954572
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+              1.050720164954572
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+              0.33869700378671264,
+              1.050720164954572
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+              0.012399219360482494,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802381049586342,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
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+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+              ],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.34968773204454906,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.00748033972257315,
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+            "held_gripper_z_dist": 0.00017666656931414337,
+            "max_held_gripper_z_dist": 0.000358361420057296,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08864434223836032,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.328603989718705,
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+              0.3414666849977298,
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+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.004157649317598674,
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+            "held_grasp_min_top_clearance": 0.013560120016336441
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18665785877576568,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847020120586206,
+            "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": 0.0751527328773444,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08635094990461077,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1561365870260378,
+            "release_required_pad_clearance": 0.05317547495230539,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3734210640211397,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00889509916305542,
+            "max_z_decrease": 0.00889509916305542,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502127595404734,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00889509916305542,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02095716851727405,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00889509916305542,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00889536466043416,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17990660667419434,
+              -0.440451055765152,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17990660667419434,
+              -0.440451055765152,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17803064032470275,
+              -0.4406222440590228,
+              0.8029213647013318
+            ],
+            "closest_button": [
+              0.17994004487991333,
+              -0.4403947591781616,
+              0.7679529190063477
+            ],
+            "closest_ee_minus_button": [
+              -0.0019094045552105754,
+              -0.0002274848808611618,
+              0.03496844569498414
+            ],
+            "button_min_z_position": [
+              0.17994002997875214,
+              -0.44039100408554077,
+              0.7679137587547302
+            ],
+            "min_active_finger_to_button": 0.14758650946268823,
+            "closest_active_finger": [
+              0.05093492567539215,
+              -0.5034135580062866,
+              0.8111993074417114
+            ],
+            "closest_active_finger_button": [
+              0.17990964651107788,
+              -0.4404527842998504,
+              0.7768010497093201
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12897472083568573,
+              -0.06296077370643621,
+              0.03439825773239136
+            ],
+            "min_contact_pad_to_button": 0.02095716851727405,
+            "closest_contact_pad": [
+              0.17994002997875214,
+              -0.44180481525930093,
+              0.788823183668543
+            ],
+            "closest_contact_pad_button": [
+              0.17994002997875214,
+              -0.44039100408554077,
+              0.7679137587547302
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00141381117376016,
+              0.020909424913812757
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9aca824a0c239623504e2aa2ac69be833d075d7476133064d033bfb25626a85d",
+    "visual_seed": 1909144421027652149,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfe48113adb00d539ca28267c3837a346f4b6295
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_42_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28411084676623644,
+              0.3423628788693721,
+              1.0468271548034325
+            ],
+            "current_z": 1.0468271548034325,
+            "required_z": 0.8565866642515584,
+            "initial_z": 0.7565866642515584,
+            "lift_margin": 0.1902404905518741,
+            "gripper_z": 1.047206923410895,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2786356833647219,
+              0.3373387146714651,
+              1.047206923410895
+            ],
+            "object_minus_gripper": [
+              0.005475163401514549,
+              0.005024164197907022,
+              -0.00037976860746247176
+            ],
+            "object_to_gripper_xy": 0.007430991869247003,
+            "object_to_gripper_z": -0.00037976860746247176,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28411084676623644,
+              0.31760346936825606,
+              1.0468271548034325
+            ],
+            "finger_b": [
+              0.2720739569554187,
+              0.3423628788693721,
+              1.0468271548034325
+            ],
+            "finger_midpoint": [
+              0.27809240186082756,
+              0.32998317411881406,
+              1.0468271548034325
+            ],
+            "object_minus_finger_midpoint": [
+              0.006018444905408871,
+              0.012379704750558052,
+              0.0
+            ],
+            "finger_gap": 0.02753025744815554,
+            "fingertip_max_gap": 0.09380641749801452,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013765128724077794,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468271548034325,
+            "object_top_z": 1.094008685064109,
+            "finger_top_clearance": 0.04718153026067662,
+            "fingertip_min_top_clearance": 0.014154459078203,
+            "object_projection_between_fingers": 0.8088351570433506,
+            "object_to_finger_line_xy": 0.010825408534848797,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04940320874900726,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2592575579240992,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bf6a77f10dddc35987051e95bf2367415f22fd629f7a6ecc5ed460e139b2186b",
+    "visual_seed": 1209831578191604268,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fe1d5261767b05bb48f786713c4a6a5b793e032
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_43_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              0.3467781047080449,
+              1.0503408681946957
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+              0.34170241781396055,
+              1.0500543684896217
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+              0.00507568689408433,
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+            "object_to_gripper_z": 0.0002864997050739948,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.29291270025652527,
+              0.3223079180576752,
+              1.0503408681946957
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+              1.0503408681946957
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+              0.33454301138286,
+              1.0503408681946957
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+              0.012235093325184854,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.344550717453838,
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+              0.3490329000931584,
+              1.2385973363961813
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 0.00018852996044960157,
+            "max_held_gripper_z_dist": 0.0002994677182861505,
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+              0.3361122860397685,
+              1.2385973363961813
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+              0.3490329000931584,
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+            "held_grasp_z_skew": 0.024761550554586214,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              0.025802568849820687
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+            "held_grasp_object_to_finger_line_xy": 0.003495333298934373,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15353961281509607,
+            "release_required_pad_clearance": 0.05342364143805338,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8612433288258399,
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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"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008769035339355469,
+            "max_z_decrease": 0.008769035339355469,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504040668201743,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008769035339355469,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020905739556778546,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008769035339355469,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008769259874719914,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17623688280582422,
+              -0.44187274575233454,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17623688280582422,
+              -0.44187274575233454,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17546742829904774,
+              -0.43992090494638003,
+              0.8030184376694073
+            ],
+            "closest_button": [
+              0.1762856543064117,
+              -0.44183325767517084,
+              0.7680398225784302
+            ],
+            "closest_ee_minus_button": [
+              -0.000818226007363948,
+              0.0019123527287908115,
+              0.034978615090977105
+            ],
+            "button_min_z_position": [
+              0.1762856543064117,
+              -0.44183325767517084,
+              0.7680398225784302
+            ],
+            "min_active_finger_to_button": 0.14570276179161043,
+            "closest_active_finger": [
+              0.04840751737356186,
+              -0.5027700066566467,
+              0.8106333613395691
+            ],
+            "closest_active_finger_button": [
+              0.17624032497406,
+              -0.4418757855892181,
+              0.776282787322998
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12783280760049814,
+              -0.060894221067428644,
+              0.034350574016571045
+            ],
+            "min_contact_pad_to_button": 0.020905739556778546,
+            "closest_contact_pad": [
+              0.1762856543064117,
+              -0.44183325767517084,
+              0.7889455621352087
+            ],
+            "closest_contact_pad_button": [
+              0.1762856543064117,
+              -0.44183325767517084,
+              0.7680398225784302
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020905739556778546
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "de4e8bfd7a3a9563fc80f45c172de83c8b2aef93e57bf8206bcd34ce03970b0b",
+    "visual_seed": 6841404901230704545,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..19d976ac2eb3098342eb15a0408ae05278724d6d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_44_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2918137111898109,
+              0.347107642963736,
+              1.0493975749602134
+            ],
+            "current_z": 1.0493975749602134,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19281118676093734,
+            "gripper_z": 1.0492167466904794,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28588298359313913,
+              0.3419066398270863,
+              1.0492167466904794
+            ],
+            "object_minus_gripper": [
+              0.005930727596671792,
+              0.005201003136649673,
+              0.00018082826973397914
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+            "object_to_gripper_xy": 0.007888216747362113,
+            "object_to_gripper_z": 0.00018082826973397914,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2918137111898109,
+              0.32198195567823845,
+              1.0493975749602134
+            ],
+            "finger_b": [
+              0.27958087452398733,
+              0.347107642963736,
+              1.0493975749602134
+            ],
+            "finger_midpoint": [
+              0.28569729285689915,
+              0.33454479932098724,
+              1.0493975749602134
+            ],
+            "object_minus_finger_midpoint": [
+              0.006116418332911766,
+              0.012562843642748733,
+              0.0
+            ],
+            "finger_gap": 0.02794534763536374,
+            "fingertip_max_gap": 0.09402526563924266,
+            "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": 1.096112571932883,
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+            "object_projection_between_fingers": 0.8083824332537579,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04951263281962133,
+            "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": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29138204702355275,
+              0.34575493991310713,
+              1.2370965777069374
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+            "held_position": [
+              0.2976043973225132,
+              0.35060636504756715,
+              1.237191609764164
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007890690728329453,
+            "max_held_gripper_dist": 0.007892241238040647,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 9.503205722660724e-05,
+            "max_held_gripper_z_dist": 0.00019062002801506495,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08888218412493798,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2976043973225132,
+              0.32477720584191355,
+              1.237191609764164
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+              0.35060636504756715,
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+            "held_grasp_midpoint": [
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+              0.3376917854447403,
+              1.237191609764164
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+            "held_grasp_object_position": [
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+              0.35060636504756715,
+              1.237191609764164
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+            "held_grasp_finger_gap": 0.027992203840484297,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025390257313559404,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03833008926495786,
+              -0.9990192849556968,
+              0.022164668812065354
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0049043721595457375,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03209152546195156,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.33319889204954034,
+              -0.38643633194031946,
+              0.8470196849283829
+            ],
+            "target_position": [
+              0.3254744598394601,
+              -0.38880945701241604,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008080753403980252,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18906209249952544,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196849283829,
+            "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": 0.07559594842351049,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08707527226821414,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1572648889215,
+            "release_required_pad_clearance": 0.05353763613410707,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0849782605862117,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00876230001449585,
+            "max_z_decrease": 0.00876230001449585,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035073322035887915,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00876230001449585,
+            "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": 0.02102541632159849,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00876230001449585,
+            "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": 0.008762494889165431,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18117438256740565,
+              -0.44507092237472523,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18117438256740565,
+              -0.44507092237472523,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1818121758538981,
+              -0.44258987611259865,
+              0.8034013534208153
+            ],
+            "closest_button": [
+              0.1811463683843612,
+              -0.4449986517429351,
+              0.7684171795845032
+            ],
+            "closest_ee_minus_button": [
+              0.0006658074695368998,
+              0.0024087756303364793,
+              0.03498417383631214
+            ],
+            "button_min_z_position": [
+              0.18114873766899103,
+              -0.44501841068267817,
+              0.7680465579032898
+            ],
+            "min_active_finger_to_button": 0.1444125548915329,
+            "closest_active_finger": [
+              0.054174408316612244,
+              -0.5044310688972473,
+              0.8087390065193176
+            ],
+            "closest_active_finger_button": [
+              0.18118374049663538,
+              -0.4450736343860625,
+              0.774093508720398
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12700933218002314,
+              -0.0593574345111848,
+              0.03464549779891968
+            ],
+            "min_contact_pad_to_button": 0.02102541632159849,
+            "closest_contact_pad": [
+              0.18114873766899103,
+              -0.44501841068267817,
+              0.7890719742248883
+            ],
+            "closest_contact_pad_button": [
+              0.18114873766899103,
+              -0.44501841068267817,
+              0.7680465579032898
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02102541632159849
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cfd986cc609033205ff93a5cebb8d4864f3fedd6577a2a80ca5fb3a2529fbd65",
+    "visual_seed": 4871437953745964488,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d352f2321cf262b5b00ce431b42ee64c2d494cb6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_45_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.3480518672478012,
+              1.0507260795636097
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+            "lift_margin": 0.19413957215504418,
+            "gripper_z": 1.0504998747334318,
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+            "gripper_position": [
+              0.2843278259773505,
+              0.3428951604586481,
+              1.0504998747334318
+            ],
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+              0.005550989067982459,
+              0.005156706789153087,
+              0.00022620483017798954
+            ],
+            "object_to_gripper_xy": 0.007576615639067242,
+            "object_to_gripper_z": 0.00022620483017798954,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28987881504533297,
+              0.32333673234396404,
+              1.0507260795636097
+            ],
+            "finger_b": [
+              0.27752779348083667,
+              0.3480518672478012,
+              1.0507260795636097
+            ],
+            "finger_midpoint": [
+              0.2837033042630848,
+              0.3356942997958826,
+              1.0507260795636097
+            ],
+            "object_minus_finger_midpoint": [
+              0.00617551078224815,
+              0.012357567451918572,
+              0.0
+            ],
+            "finger_gap": 0.027629434069512203,
+            "fingertip_max_gap": 0.09085625116805154,
+            "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": 1.0507260795636097,
+            "object_top_z": 1.096271260040482,
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+            "object_projection_between_fingers": 0.8001694971834352,
+            "object_to_finger_line_xy": 0.011048259743530735,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047928125584025774,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.22896097358037082,
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+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c07e0830cdf4e21d55d76f8da46c33bfda501dfa9c4ef72a7133b3a3cd978db8",
+    "visual_seed": 4265469420535121356,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ff90728ff5ac5318c4b7bc10b4e8c68ff035726
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.3521577778382693,
+              1.0503750630520698
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+            "lift_margin": 0.19378867485279383,
+            "gripper_z": 1.0499526384561217,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28723520044617484,
+              0.34698701337841914,
+              1.0499526384561217
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+              0.005907805068198324,
+              0.005170764459850152,
+              0.000422424595948101
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+            "object_to_gripper_z": 0.000422424595948101,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3270068677156714,
+              1.0503750630520698
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+              0.3521577778382693,
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+              0.3395823227769703,
+              1.0503750630520698
+            ],
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+              0.012575455061298979,
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+            ],
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+            "object_position_origin": "center",
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0498002782428401,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
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+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.3509502780754814,
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+              1.2416745950140868
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007862233619102153,
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+            "held_gripper_z_dist": 0.0003734933565759935,
+            "max_held_gripper_z_dist": 0.00046719958897356584,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08878158080257142,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.34283543451317267,
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+            "held_grasp_object_position": [
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9989223152881718,
+              0.025918235551213864
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004889218328512938,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "heater_platform",
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+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574989311205672,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08715462956477447,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15476819216476692,
+            "release_required_pad_clearance": 0.05357731478238724,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1623776359297766,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008712172508239746,
+            "max_z_decrease": 0.008712172508239746,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500580548699776,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008712172508239746,
+            "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": 0.020963004476265677,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008712172508239746,
+            "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": 0.008712411682428083,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17978832125663757,
+              -0.4420300722122193,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17978832125663757,
+              -0.4420300722122193,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1789332768367308,
+              -0.44308893372086827,
+              0.8035959425491321
+            ],
+            "closest_button": [
+              0.17982147634029388,
+              -0.44200602173805237,
+              0.7686181664466858
+            ],
+            "closest_ee_minus_button": [
+              -0.0008881995035630863,
+              -0.001082911982815904,
+              0.034977776102446345
+            ],
+            "button_min_z_position": [
+              0.17982986569404602,
+              -0.4419806599617005,
+              0.7680966854095459
+            ],
+            "min_active_finger_to_button": 0.1465664490059859,
+            "closest_active_finger": [
+              0.03788835555315018,
+              -0.42909908294677734,
+              0.8103155493736267
+            ],
+            "closest_active_finger_button": [
+              0.17978930473327637,
+              -0.4420330226421357,
+              0.7759854197502136
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1419009491801262,
+              0.012933939695358332,
+              0.034330129623413086
+            ],
+            "min_contact_pad_to_button": 0.020963004476265677,
+            "closest_contact_pad": [
+              0.17982986569404602,
+              -0.4440431003787368,
+              0.788957986811858
+            ],
+            "closest_contact_pad_button": [
+              0.17982986569404602,
+              -0.4419806599617005,
+              0.7680966854095459
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002062440417036293,
+              0.020861301402312127
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b8c7b2c71a35778bb79bab93a231e2082d36ae232efdbd6c34876bb00d60a607",
+    "visual_seed": 2282944254855981980,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..76603192a5226c2e66f7f27daf52c08a845cd47d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_47_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28740252477889827,
+              0.3484974995095824,
+              1.0504526952292639
+            ],
+            "current_z": 1.0504526952292639,
+            "required_z": 0.8565866177484712,
+            "initial_z": 0.7565866177484712,
+            "lift_margin": 0.19386607748079265,
+            "gripper_z": 1.0501967999178572,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28145079058798794,
+              0.34321767999849084,
+              1.0501967999178572
+            ],
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+              0.005951734190910329,
+              0.005279819511091577,
+              0.0002558953114066842
+            ],
+            "object_to_gripper_xy": 0.007956106707991939,
+            "object_to_gripper_z": 0.0002558953114066842,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28740252477889827,
+              0.32341723836323366,
+              1.0504526952292639
+            ],
+            "finger_b": [
+              0.274969720015973,
+              0.3484974995095824,
+              1.0504526952292639
+            ],
+            "finger_midpoint": [
+              0.2811861223974356,
+              0.33595736893640804,
+              1.0504526952292639
+            ],
+            "object_minus_finger_midpoint": [
+              0.006216402381462649,
+              0.01254013057317438,
+              0.0
+            ],
+            "finger_gap": 0.027992751444652044,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013996375722326022,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0504526952292639,
+            "object_top_z": 1.096643976718371,
+            "finger_top_clearance": 0.04619128148910723,
+            "fingertip_min_top_clearance": 0.013857384446732167,
+            "object_projection_between_fingers": 0.8027363558810441,
+            "object_to_finger_line_xy": 0.011139240487033561,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048806313997354564,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9437201411684265,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..41247f178feba6b6400eb77b23ce7244edcd08a8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_48_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+      "reason": "executed",
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+              0.34365293674474406,
+              1.0489438386041188
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+              0.33857237917143146,
+              1.0492110346446006
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+              0.005080557573312605,
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+            "object_to_gripper_z": -0.0002671960404818652,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3188506611510354,
+              1.0489438386041188
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+              1.0489438386041188
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+              0.3312517989478897,
+              1.0489438386041188
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+              0.012401137796854367,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
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+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
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+              "failed_keys": []
+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3424537420515875,
+              1.2397066363098346
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+              0.34712638582006694,
+              1.2393896297948241
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.00031700651501043176,
+            "max_held_gripper_z_dist": 0.0004930140536718586,
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+              0.34712638582006694,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9970877471270004,
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+            "held_grasp_line_xy_max_dist": 0.04748288109898567,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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+          }
+        },
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "release_required_pad_clearance": 0.05273382791666724,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.5188861160025707,
+            "object_max_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": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
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+            "failed_keys": []
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+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008919358253479004,
+            "max_z_decrease": 0.008919358253479004,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503986876791667,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008919358253479004,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020891480692595638,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008919358253479004,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008919629162925108,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17369982600212097,
+              -0.44433361291885376,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17369982600212097,
+              -0.44433361291885376,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1752205405953633,
+              -0.44359549174218466,
+              0.8028910076711321
+            ],
+            "closest_button": [
+              0.17372629046440127,
+              -0.4442693293094635,
+              0.7678894996643066
+            ],
+            "closest_ee_minus_button": [
+              0.0014942501309620215,
+              0.0006738375672788455,
+              0.035001508006825444
+            ],
+            "button_min_z_position": [
+              0.17372629046440127,
+              -0.4442693293094635,
+              0.7678894996643066
+            ],
+            "min_active_finger_to_button": 0.14416310337087926,
+            "closest_active_finger": [
+              0.048756636679172516,
+              -0.5075750350952148,
+              0.8103643655776978
+            ],
+            "closest_active_finger_button": [
+              0.17370259761810303,
+              -0.44433659315109253,
+              0.7761239409446716
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12494596093893051,
+              -0.06323844194412231,
+              0.03424042463302612
+            ],
+            "min_contact_pad_to_button": 0.020891480692595638,
+            "closest_contact_pad": [
+              0.17372629046440127,
+              -0.44467425060057336,
+              0.7887770558707445
+            ],
+            "closest_contact_pad_button": [
+              0.17372629046440127,
+              -0.4442693293094635,
+              0.7678894996643066
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00040492129110986097,
+              0.020887556206437896
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8a2e0de980eff827875f30a4da14cc6f4ecfe4a201ae116b93d8be021f276693",
+    "visual_seed": 5831926015749365006,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab74c68e3eb9c2c9d7512d57ddd274b301307f43
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_49_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2848864750304228,
+              0.3519899020500999,
+              1.0512480767717323
+            ],
+            "current_z": 1.0512480767717323,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1946615693631667,
+            "gripper_z": 1.051047086227218,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27899908264030543,
+              0.34678747638716406,
+              1.051047086227218
+            ],
+            "object_minus_gripper": [
+              0.005887392390117374,
+              0.005202425662935828,
+              0.00020099054451416798
+            ],
+            "object_to_gripper_xy": 0.007856629171189464,
+            "object_to_gripper_z": 0.00020099054451416798,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2848864750304228,
+              0.32689551930556593,
+              1.0512480767717323
+            ],
+            "finger_b": [
+              0.2726460064862396,
+              0.3519899020500999,
+              1.0512480767717323
+            ],
+            "finger_midpoint": [
+              0.27876624075833123,
+              0.33944271067783294,
+              1.0512480767717323
+            ],
+            "object_minus_finger_midpoint": [
+              0.006120234272091574,
+              0.012547191372266953,
+              0.0
+            ],
+            "finger_gap": 0.027920550057445183,
+            "fingertip_max_gap": 0.09276746277848821,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013960275028722555,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0512480767717323,
+            "object_top_z": 1.0974887510631133,
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+            "fingertip_min_top_clearance": 0.013872202287414303,
+            "object_projection_between_fingers": 0.8078023185215114,
+            "object_to_finger_line_xy": 0.011001466732860947,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04888373138924411,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9930501561110582,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28470473662167894,
+              0.35059007108711293,
+              1.242948954983406
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+            "held_position": [
+              0.290917619025682,
+              0.3554008518033658,
+              1.243099206237484
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007859140812149423,
+            "max_held_gripper_dist": 0.007861110262407978,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00015025125407786,
+            "max_held_gripper_z_dist": 0.00024229626822647177,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08866675219361014,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.290917619025682,
+              0.32948343000633984,
+              1.243099206237484
+            ],
+            "held_grasp_finger_b": [
+              0.28022635719692846,
+              0.3554008518033658,
+              1.243099206237484
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+            "held_grasp_midpoint": [
+              0.28557198811130524,
+              0.3424421409048528,
+              1.243099206237484
+            ],
+            "held_grasp_object_position": [
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+              0.3554008518033658,
+              1.243099206237484
+            ],
+            "held_grasp_finger_gap": 0.028035973892410398,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025336196409708137,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.050898818891080985,
+              -0.9985703520948521,
+              0.01632673122997563
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0046840002364822485,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03198795416141785,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.33539958754561755,
+              -0.38867154187507547,
+              0.8470196591856154
+            ],
+            "target_position": [
+              0.3265370147690188,
+              -0.3915427043564866,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00931604906680788,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18796306351000894,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196591856154,
+            "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": 0.07567591180158185,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08692957321924609,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15605865054216847,
+            "release_required_pad_clearance": 0.05346478660962305,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9427256926633736,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008996963500976562,
+            "max_z_decrease": 0.008996963500976562,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035002830143836684,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008996963500976562,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02109204510839736,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008996963500976562,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008997340114059522,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1822369396686554,
+              -0.44780415296554565,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1822369396686554,
+              -0.44780415296554565,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18242832572521178,
+              -0.4487095638505751,
+              0.802800336330918
+            ],
+            "closest_button": [
+              0.1822473704814911,
+              -0.44772249460220337,
+              0.7678118944168091
+            ],
+            "closest_ee_minus_button": [
+              0.00018095524372069294,
+              -0.0009870692483717192,
+              0.03498844191410888
+            ],
+            "button_min_z_position": [
+              0.1822473704814911,
+              -0.44772249460220337,
+              0.7678118944168091
+            ],
+            "min_active_finger_to_button": 0.14554752482516345,
+            "closest_active_finger": [
+              0.041759878396987915,
+              -0.43203428387641907,
+              0.8073111772537231
+            ],
+            "closest_active_finger_button": [
+              0.18224665522575373,
+              -0.44780799746513367,
+              0.7726883888244629
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1404867768287658,
+              0.0157737135887146,
+              0.034622788429260254
+            ],
+            "min_contact_pad_to_button": 0.02109204510839736,
+            "closest_contact_pad": [
+              0.1822473704814911,
+              -0.4499356046985942,
+              0.788787511465085
+            ],
+            "closest_contact_pad_button": [
+              0.1822473704814911,
+              -0.44772249460220337,
+              0.7678118944168091
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002213110096390858,
+              0.020975617048275885
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "79b91fbda62ce8389e688491754af313c3338974f7f0db5b6c55db0a65a8ee02",
+    "visual_seed": 7286137274691064907,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3821bacc441a2d73184c108c7c2fcb370c96e27
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_4_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.28742294996268275,
+              0.34982733815907463,
+              1.0499616104284606
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+            "current_z": 1.0499616104284606,
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+            "initial_z": 0.7565865764197087,
+            "lift_margin": 0.1933750340087519,
+            "gripper_z": 1.0500880475882837,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28193627608871485,
+              0.344822025660669,
+              1.0500880475882837
+            ],
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+              0.0054866738739678955,
+              0.005005312498405634,
+              -0.00012643715982307846
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+            "object_to_gripper_xy": 0.007426758606954822,
+            "object_to_gripper_z": -0.00012643715982307846,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28742294996268275,
+              0.32501657918222765,
+              1.0499616104284606
+            ],
+            "finger_b": [
+              0.2754652079178924,
+              0.34982733815907463,
+              1.0499616104284606
+            ],
+            "finger_midpoint": [
+              0.28144407894028756,
+              0.33742195867065117,
+              1.0499616104284606
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059788710223951935,
+              0.012405379488423462,
+              0.0
+            ],
+            "finger_gap": 0.027541992589806195,
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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": 1.0499616104284606,
+            "object_top_z": 1.0983455843561887,
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+            "object_projection_between_fingers": 0.8115016093118076,
+            "object_to_finger_line_xy": 0.010771938697362397,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050550807495083575,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.172346960798472,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
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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": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "acf3b316992af9704ccce30d5e57c36a98f629db708d400ac704ebe554de2844",
+    "visual_seed": 8982721320043325547,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c30fc40b9eaf534bca821a72d3f8b10397b8af2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_50_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.3495043833666728,
+              1.0497688206451852
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+            "gripper_z": 1.0498542526844254,
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+            "gripper_position": [
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+              0.34441969524040617,
+              1.0498542526844254
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+              0.005084688126266612,
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+            "object_to_gripper_z": -8.54320392402741e-05,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.28436703096677046,
+              0.32470901787174217,
+              1.0497688206451852
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+              1.0497688206451852
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+              0.33710670061920744,
+              1.0497688206451852
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+              0.012397682747465333,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                }
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3483238376117338,
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+              0.35299556932384324,
+              1.2378666948604369
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+            "max_held_gripper_z_dist": 0.00035154515045054957,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.32727550137088907,
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+              0.3401355353473662,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              0.011068370922996063
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+            "held_grasp_object_to_finger_line_xy": 0.004199499997618838,
+            "held_grasp_line_xy_max_dist": 0.04748300403356552,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15554832337479205,
+            "release_required_pad_clearance": 0.05267260180132664,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4015375999647799,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00874018669128418,
+            "max_z_decrease": 0.00874018669128418,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035020057533967495,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00874018669128418,
+            "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": 0.021025641782478472,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00874018669128418,
+            "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": 0.008740367461364694,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17985777556896204,
+              -0.441162645816803,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17985777556896204,
+              -0.441162645816803,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18099470105582421,
+              -0.4416996176889668,
+              0.8030656552293352
+            ],
+            "closest_button": [
+              0.17986987531185145,
+              -0.44110774993896484,
+              0.7680686712265015
+            ],
+            "closest_ee_minus_button": [
+              0.0011248257439727682,
+              -0.0005918677500019731,
+              0.034996984002833686
+            ],
+            "button_min_z_position": [
+              0.17986987531185145,
+              -0.44110774993896484,
+              0.7680686712265015
+            ],
+            "min_active_finger_to_button": 0.14465658234372983,
+            "closest_active_finger": [
+              0.04017333686351776,
+              -0.4262274503707886,
+              0.810450553894043
+            ],
+            "closest_active_finger_button": [
+              0.17986188828945154,
+              -0.4411649703979492,
+              0.7759613394737244
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13968855142593378,
+              0.014937520027160645,
+              0.034489214420318604
+            ],
+            "min_contact_pad_to_button": 0.021025641782478472,
+            "closest_contact_pad": [
+              0.17986987531185145,
+              -0.4428188024363649,
+              0.7890245752088222
+            ],
+            "closest_contact_pad_button": [
+              0.17986987531185145,
+              -0.44110774993896484,
+              0.7680686712265015
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017110524974000563,
+              0.020955903982320723
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb043f812d569516bfb48c2fe134f9847745f3af7fb00ff59a31ec331e5e688b",
+    "visual_seed": 1842339303716294192,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ece8fbe7a78fa063dd6f821f04729fe9fe4ac482
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_51_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.29172224952992265,
+              0.346341441684045,
+              1.0502908070272339
+            ],
+            "current_z": 1.0502908070272339,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.19370441882795775,
+            "gripper_z": 1.049994597868927,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2863893039333137,
+              0.34124110677869035,
+              1.049994597868927
+            ],
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+              0.005332945596608962,
+              0.005100334905354664,
+              0.00029620915830697037
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+            "object_to_gripper_xy": 0.007379276718159449,
+            "object_to_gripper_z": 0.00029620915830697037,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29172224952992265,
+              0.32184836519649224,
+              1.0502908070272339
+            ],
+            "finger_b": [
+              0.2793545260162248,
+              0.346341441684045,
+              1.0502908070272339
+            ],
+            "finger_midpoint": [
+              0.2855383877730737,
+              0.3340949034402686,
+              1.0502908070272339
+            ],
+            "object_minus_finger_midpoint": [
+              0.00618386175684893,
+              0.012246538243776417,
+              0.0
+            ],
+            "finger_gap": 0.027438501794675045,
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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": 1.0502908070272339,
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+            "fingertip_min_top_clearance": 0.013809392825650812,
+            "object_projection_between_fingers": 0.7968303898580077,
+            "object_to_finger_line_xy": 0.011040092504492895,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04820537675916335,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6530882165854405,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29243233121612533,
+              0.34424208285783403,
+              1.2411114274299693
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+            "held_position": [
+              0.2982528705054031,
+              0.34878313469332756,
+              1.2413451932454582
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+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
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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": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3350380605545228,
+              -0.3827711858814586,
+              0.8470192231525021
+            ],
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+              0.3269160732543621,
+              -0.3847986490328946,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00837121762555497,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18638715290759367,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192231525021,
+            "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": 0.0752819371417907,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08645134808737114,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15544819982143043,
+            "release_required_pad_clearance": 0.05322567404368557,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4713691918398524,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00878608226776123,
+            "max_z_decrease": 0.00878608226776123,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500647416088866,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00878608226776123,
+            "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": 0.02096014975256194,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00878608226776123,
+            "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": 0.00878637205725093,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1826159954071045,
+              -0.4410600960254669,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1826159954071045,
+              -0.4410600960254669,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18320964230934272,
+              -0.44129214821799945,
+              0.8033949777189674
+            ],
+            "closest_button": [
+              0.18258456885814664,
+              -0.44100713729858404,
+              0.7683952450752258
+            ],
+            "closest_ee_minus_button": [
+              0.0006250734511960843,
+              -0.0002850109194154071,
+              0.034999732643741566
+            ],
+            "button_min_z_position": [
+              0.1825738400220871,
+              -0.4410025179386139,
+              0.7680227756500244
+            ],
+            "min_active_finger_to_button": 0.14518699178472455,
+            "closest_active_finger": [
+              0.04222552478313446,
+              -0.4274900257587433,
+              0.8103188872337341
+            ],
+            "closest_active_finger_button": [
+              0.1826193332672119,
+              -0.4410630464553833,
+              0.775900661945343
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14039380848407743,
+              0.013573020696640015,
+              0.03441822528839111
+            ],
+            "min_contact_pad_to_button": 0.02096014975256194,
+            "closest_contact_pad": [
+              0.1825738400220871,
+              -0.4422493483089865,
+              0.7889458082140993
+            ],
+            "closest_contact_pad_button": [
+              0.1825738400220871,
+              -0.4410025179386139,
+              0.7680227756500244
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001246830370372598,
+              0.020923032564074906
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "703e791619f754adf0d1b24629bee770346ba2a00b376b6208c1b114313f9f94",
+    "visual_seed": 1458377431588275503,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fe2af590e9744084ae05d91b825df342755e61e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_52_success.json
@@ -0,0 +1,926 @@
+{
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+  "success": true,
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+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0089036226272583,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020847589175579495,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.0089036226272583,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008903962941028942,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18076921999454498,
+              -0.4406803250312806,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18076921999454498,
+              -0.4406803250312806,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17917433433223776,
+              -0.44023018541863956,
+              0.8028700845982891
+            ],
+            "closest_button": [
+              0.1808219701051712,
+              -0.4406230747699738,
+              0.7679052352905273
+            ],
+            "closest_ee_minus_button": [
+              -0.0016476357729334479,
+              0.00039288935133424685,
+              0.03496484930776178
+            ],
+            "button_min_z_position": [
+              0.1808219701051712,
+              -0.4406230747699738,
+              0.7679052352905273
+            ],
+            "min_active_finger_to_button": 0.14700705277051657,
+            "closest_active_finger": [
+              0.053072310984134674,
+              -0.5049517154693604,
+              0.8110553026199341
+            ],
+            "closest_active_finger_button": [
+              0.18077051639556885,
+              -0.4406821131706238,
+              0.7767965793609619
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12769820541143417,
+              -0.06426960229873657,
+              0.03425872325897217
+            ],
+            "min_contact_pad_to_button": 0.020847589175579495,
+            "closest_contact_pad": [
+              0.1808219701051712,
+              -0.4412308076404054,
+              0.7887439645030282
+            ],
+            "closest_contact_pad_button": [
+              0.1808219701051712,
+              -0.4406230747699738,
+              0.7679052352905273
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006077328704315876,
+              0.02083872921250085
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b8b28f88cd872a9c261ab3d949d37d095cb7bc9a70585e14217c487836933906",
+    "visual_seed": 2517523317606521212,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f19840c0d467b68e9ecf71e4fb9c8c6c69086d20
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_53_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2883273793902863,
+              0.3516386551976679,
+              1.051460112808171
+            ],
+            "current_z": 1.051460112808171,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1948736650042503,
+            "gripper_z": 1.051075807786781,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28298923780980656,
+              0.34665014713922004,
+              1.051075807786781
+            ],
+            "object_minus_gripper": [
+              0.005338141580479738,
+              0.00498850805844786,
+              0.0003843050213900856
+            ],
+            "object_to_gripper_xy": 0.007306228040681865,
+            "object_to_gripper_z": 0.0003843050213900856,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2883273793902863,
+              0.32699227590586394,
+              1.051460112808171
+            ],
+            "finger_b": [
+              0.2763153992864296,
+              0.3516386551976679,
+              1.051460112808171
+            ],
+            "finger_midpoint": [
+              0.28232138933835793,
+              0.33931546555176595,
+              1.051460112808171
+            ],
+            "object_minus_finger_midpoint": [
+              0.006005990051928367,
+              0.012323189645901955,
+              0.0
+            ],
+            "finger_gap": 0.027417725620680358,
+            "fingertip_max_gap": 0.09196664569390092,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013708862810340165,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051460112808171,
+            "object_top_z": 1.0974934553926983,
+            "finger_top_clearance": 0.04603334258452718,
+            "fingertip_min_top_clearance": 0.013810002775358121,
+            "object_projection_between_fingers": 0.808059617284126,
+            "object_to_finger_line_xy": 0.010797825530136303,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04848332284695046,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7512896703647732,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2888467555639708,
+              0.350425060039271,
+              1.2425504503908498
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+            "held_position": [
+              0.2945618494976697,
+              0.3549796039349055,
+              1.2428868970111469
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007315693070145376,
+            "max_held_gripper_dist": 0.007317004579699562,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003364466202970817,
+            "max_held_gripper_z_dist": 0.00042157154391131435,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08849360822128682,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2945618494976697,
+              0.3292719148787797,
+              1.2428868970111469
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+            "held_grasp_finger_b": [
+              0.2844399104462102,
+              0.3549796039349055,
+              1.2428868970111469
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+            "held_grasp_midpoint": [
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+              0.34212575940684264,
+              1.2428868970111469
+            ],
+            "held_grasp_object_position": [
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+              0.3549796039349055,
+              1.2428868970111469
+            ],
+            "held_grasp_finger_gap": 0.027628588939138964,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024723205048902297,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08725913284246475,
+              -0.9960613969350643,
+              0.015733317239199907
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003925442658308188,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03195539081704499,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3313593794266818,
+              -0.39083438275930793,
+              0.8470192468790609
+            ],
+            "target_position": [
+              0.32422191069917894,
+              -0.392676324911635,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007371309973715715,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18694935271846502,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192468790609,
+            "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": 0.07583071246544709,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08502623350071807,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15461211666085375,
+            "release_required_pad_clearance": 0.05251311675035904,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.09691232312863023,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00899040699005127,
+            "max_z_decrease": 0.00899040699005127,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507564243380159,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00899040699005127,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020991453526931856,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00899040699005127,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008990938411059586,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1799218356609344,
+              -0.4489377737045288,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1799218356609344,
+              -0.4489377737045288,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18178186173132113,
+              -0.44994261413126335,
+              0.8032389115483929
+            ],
+            "closest_button": [
+              0.17986424267292017,
+              -0.4488677084445953,
+              0.7682322263717651
+            ],
+            "closest_ee_minus_button": [
+              0.00191761905840096,
+              -0.0010749056866680706,
+              0.03500668517662775
+            ],
+            "button_min_z_position": [
+              0.17985391616821284,
+              -0.44886747002601624,
+              0.7678184509277344
+            ],
+            "min_active_finger_to_button": 0.14386694172117048,
+            "closest_active_finger": [
+              0.04077932983636856,
+              -0.43642669916152954,
+              0.8106514811515808
+            ],
+            "closest_active_finger_button": [
+              0.17992405593395228,
+              -0.4489401578903198,
+              0.7763024568557739
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13914472609758372,
+              0.012513458728790283,
+              0.034349024295806885
+            ],
+            "min_contact_pad_to_button": 0.020991453526931856,
+            "closest_contact_pad": [
+              0.17985391616821284,
+              -0.450871538961627,
+              0.788714020526926
+            ],
+            "closest_contact_pad_button": [
+              0.17985391616821284,
+              -0.44886747002601624,
+              0.7678184509277344
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002004068935610781,
+              0.020895569599191588
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5ff829489f47529da4209791421b5c05d4dd7503b98eeffb2334736c9bb1baa1",
+    "visual_seed": 37659607490569611,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..06975520829686f23edc7ff4cf23d9b3ed231045
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_54_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.34428168901431333,
+              1.0495444436415733
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+            "lift_margin": 0.19295769666699425,
+            "gripper_z": 1.0496344001355717,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27996280750685354,
+              0.3390687106100695,
+              1.0496344001355717
+            ],
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+              0.005937542546148533,
+              0.00521297840424384,
+              -8.99564939984554e-05
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+            "object_to_gripper_xy": 0.007901237582204236,
+            "object_to_gripper_z": -8.99564939984554e-05,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2859003500530021,
+              0.31911943964833156,
+              1.0495444436415733
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+            "finger_b": [
+              0.27368579428989703,
+              0.34428168901431333,
+              1.0495444436415733
+            ],
+            "finger_midpoint": [
+              0.27979307217144955,
+              0.33170056433132244,
+              1.0495444436415733
+            ],
+            "object_minus_finger_midpoint": [
+              0.00610727788155252,
+              0.012581124682990885,
+              0.0
+            ],
+            "finger_gap": 0.027970237139607033,
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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": 0.013790201711060001,
+            "object_projection_between_fingers": 0.8092945712439454,
+            "object_to_finger_line_xy": 0.0109883122002825,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048559949571110275,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7784769001723583,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7c8fe87912848f231b5fcd23c6f77eaa21b0b0b8186ddc87dc144bbc21951af9",
+    "visual_seed": 1426682317760655340,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..308acf3104459cc3df3f1697715e3977e9762da4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_55_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.3516658819261254,
+              1.049605993056129
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+            "lift_margin": 0.1930193387071294,
+            "gripper_z": 1.0493747216338347,
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+            "gripper_position": [
+              0.2820567510695753,
+              0.3464277441725195,
+              1.0493747216338347
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+              0.0052381377536059315,
+              0.000231271422294288
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+            "object_to_gripper_z": 0.000231271422294288,
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+              0.326546143023754,
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+              0.3391060124749397,
+              1.049605993056129
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+              0.012559869451185701,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
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+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.35017500859406026,
+              1.2401607421389076
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+              0.355034840861468,
+              1.2403327253046104
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007929979606466969,
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+            "held_gripper_z_dist": 0.0001719831657027715,
+            "max_held_gripper_z_dist": 0.0002636422028563512,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08883661690272676,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.3420849013817372,
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+            "held_grasp_object_position": [
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+              0.355034840861468,
+              1.2403327253046104
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025405424283257774,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9988291576361216,
+              0.022353175432850425
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004857308083194086,
+            "held_grasp_line_xy_max_dist": 0.04748300403356552,
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+            "held_grasp_min_top_clearance": 0.01356024071574211
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15762329939912909,
+            "release_required_pad_clearance": 0.05364047316469979,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 2.2900095405975356,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00895702838897705,
+            "max_z_decrease": 0.00895702838897705,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502698869355391,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00895702838897705,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021160170217586198,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00895702838897705,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008957332913205572,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18067266047000885,
+              -0.4466211199760437,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18067266047000885,
+              -0.4466211199760437,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18113347623083811,
+              -0.44805193347390465,
+              0.8028435463265722
+            ],
+            "closest_button": [
+              0.18067906796932223,
+              -0.4465475380420685,
+              0.7678518295288086
+            ],
+            "closest_ee_minus_button": [
+              0.00045440826151588176,
+              -0.0015043954318361696,
+              0.03499171679776358
+            ],
+            "button_min_z_position": [
+              0.18067906796932223,
+              -0.4465475380420685,
+              0.7678518295288086
+            ],
+            "min_active_finger_to_button": 0.14523168732171518,
+            "closest_active_finger": [
+              0.04048957675695419,
+              -0.4311262369155884,
+              0.8073829412460327
+            ],
+            "closest_active_finger_button": [
+              0.1806822866201401,
+              -0.44662564992904663,
+              0.7727705836296082
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1401927098631859,
+              0.015499413013458252,
+              0.03461235761642456
+            ],
+            "min_contact_pad_to_button": 0.021160170217586198,
+            "closest_contact_pad": [
+              0.18067906796932223,
+              -0.4493018493453781,
+              0.7888319766417743
+            ],
+            "closest_contact_pad_button": [
+              0.18067906796932223,
+              -0.4465475380420685,
+              0.7678518295288086
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002754311303309609,
+              0.020980147112965697
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "14a3d131f97849ceef918dd8466e4a3a9daf3420d1c4b7fb0ccd678bbd913aae",
+    "visual_seed": 7747488609290047410,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcbb7da402a4942cf029479bfb19fb1349d108b1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_56_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.292832730461044,
+              0.34409150780484177,
+              1.0485761584874869
+            ],
+            "current_z": 1.0485761584874869,
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+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.1919897106835663,
+            "gripper_z": 1.0483498391576878,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28726265248315846,
+              0.3389606089371,
+              1.0483498391576878
+            ],
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+              0.005570077977885557,
+              0.005130898867741762,
+              0.0002263193297991073
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+            "object_to_gripper_xy": 0.00757310318632457,
+            "object_to_gripper_z": 0.0002263193297991073,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.292832730461044,
+              0.319323492096746,
+              1.0485761584874869
+            ],
+            "finger_b": [
+              0.2805630217124473,
+              0.34409150780484177,
+              1.0485761584874869
+            ],
+            "finger_midpoint": [
+              0.2866978760867457,
+              0.33170749995079385,
+              1.0485761584874869
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061348543742983375,
+              0.012384007854047918,
+              0.0
+            ],
+            "finger_gap": 0.027640556341938387,
+            "fingertip_max_gap": 0.09081830937787819,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013820278170969208,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0485761584874869,
+            "object_top_z": 1.0941596651567165,
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+            "object_projection_between_fingers": 0.8029506769055127,
+            "object_to_finger_line_xy": 0.010994581124183441,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047909154688939096,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2071537789703962,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29300761887360893,
+              0.34261789018766314,
+              1.2379396135231844
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+            "held_position": [
+              0.29897198023688326,
+              0.3472867273438428,
+              1.2380792075778928
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0075756935895502885,
+            "max_held_gripper_dist": 0.0075775054516329,
+            "held_gripper_max_dist": 0.15,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3323259352552877,
+              -0.38084966731232656,
+              0.8470194539921289
+            ],
+            "target_position": [
+              0.32411915489711357,
+              -0.38337495333085775,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008586519278654288,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18753512461110142,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194539921289,
+            "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": 0.07579460317207708,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549739644908431,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15531440565728888,
+            "release_required_pad_clearance": 0.05274869822454216,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5482248360805435,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00886601209640503,
+            "max_z_decrease": 0.00886601209640503,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035031882781486105,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00886601209640503,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02097071814214868,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00886601209640503,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008866379457122358,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17981907725334165,
+              -0.4396364092826843,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17981907725334165,
+              -0.4396364092826843,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18024405458266798,
+              -0.43782700902452465,
+              0.802928295222858
+            ],
+            "closest_button": [
+              0.17977584898471832,
+              -0.43956825137138367,
+              0.7679428458213806
+            ],
+            "closest_ee_minus_button": [
+              0.0004682055979496613,
+              0.0017412423468590177,
+              0.03498544940147741
+            ],
+            "button_min_z_position": [
+              0.17977584898471832,
+              -0.43956825137138367,
+              0.7679428458213806
+            ],
+            "min_active_finger_to_button": 0.14481305222712745,
+            "closest_active_finger": [
+              0.05304641276597977,
+              -0.50052809715271,
+              0.8113250136375427
+            ],
+            "closest_active_finger_button": [
+              0.17982150614261627,
+              -0.43963897228240967,
+              0.7768082022666931
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1267750933766365,
+              -0.06088912487030029,
+              0.03451681137084961
+            ],
+            "min_contact_pad_to_button": 0.02097071814214868,
+            "closest_contact_pad": [
+              0.17977584898471832,
+              -0.43956825137138367,
+              0.7889135639635293
+            ],
+            "closest_contact_pad_button": [
+              0.17977584898471832,
+              -0.43956825137138367,
+              0.7679428458213806
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02097071814214868
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1f7137d9dc7b6408176efa8a6cf79a126eae8bdfe22054830d7660b0a52479ca",
+    "visual_seed": 3917192649451604688,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d93f3e894fb9ef6e27ae1e5c744f8ceb85918d7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_57_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
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+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008676350116729736,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00867653033789717,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17917391657829282,
+              -0.4420943856239319,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17917391657829282,
+              -0.4420943856239319,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1798622565623947,
+              -0.43979298892286645,
+              0.8031184720805554
+            ],
+            "closest_button": [
+              0.17921964824199677,
+              -0.4420621991157532,
+              0.7681325078010559
+            ],
+            "closest_ee_minus_button": [
+              0.0006426083203979471,
+              0.002269210192886728,
+              0.034985964279499515
+            ],
+            "button_min_z_position": [
+              0.17921964824199677,
+              -0.4420621991157532,
+              0.7681325078010559
+            ],
+            "min_active_finger_to_button": 0.14434907389374252,
+            "closest_active_finger": [
+              0.05250087380409241,
+              -0.5020736455917358,
+              0.8106432557106018
+            ],
+            "closest_active_finger_button": [
+              0.17917765676975245,
+              -0.44209674000740046,
+              0.7761118412017822
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12667678296566004,
+              -0.05997690558433538,
+              0.03453141450881958
+            ],
+            "min_contact_pad_to_button": 0.020983013680178964,
+            "closest_contact_pad": [
+              0.17921964824199677,
+              -0.4420621991157532,
+              0.7891155214812349
+            ],
+            "closest_contact_pad_button": [
+              0.17921964824199677,
+              -0.4420621991157532,
+              0.7681325078010559
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020983013680178964
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bda8c2839978efc63c84317d2a2d036d79c9e5c6f56449b1fe59f14d5c7914df",
+    "visual_seed": 26764040046819327,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce3eb6db647168c7b4618ce24f04ea64a8861991
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_58_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28622566510033953,
+              0.3522362037113736,
+              1.0505020494535438
+            ],
+            "current_z": 1.0505020494535438,
+            "required_z": 0.8565866545391447,
+            "initial_z": 0.7565866545391448,
+            "lift_margin": 0.19391539491439902,
+            "gripper_z": 1.0503954806950218,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28031298872030674,
+              0.34709399905838434,
+              1.0503954806950218
+            ],
+            "object_minus_gripper": [
+              0.005912676380032789,
+              0.005142204652989257,
+              0.00010656875852199654
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+            "object_to_gripper_xy": 0.007835943508488433,
+            "object_to_gripper_z": 0.00010656875852199654,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28622566510033953,
+              0.3270522202054743,
+              1.0505020494535438
+            ],
+            "finger_b": [
+              0.27416879438850156,
+              0.3522362037113736,
+              1.0505020494535438
+            ],
+            "finger_midpoint": [
+              0.2801972297444205,
+              0.339644211958424,
+              1.0505020494535438
+            ],
+            "object_minus_finger_midpoint": [
+              0.006028435355919015,
+              0.012591991752949616,
+              0.0
+            ],
+            "finger_gap": 0.02792133873200538,
+            "fingertip_max_gap": 0.0923987432876052,
+            "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": 1.0505020494535438,
+            "object_top_z": 1.096599952818937,
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+            "fingertip_min_top_clearance": 0.013829371009617963,
+            "object_projection_between_fingers": 0.8135352543622318,
+            "object_to_finger_line_xy": 0.010874837917124442,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486993716438026,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8562449534536192,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2858566533496386,
+              0.35102465721583914,
+              1.2403368673520874
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+            "held_position": [
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+              0.3558385559887082,
+              1.2403829536712563
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007835996460606164,
+            "max_held_gripper_dist": 0.00783882333861813,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 4.608631916891426e-05,
+            "max_held_gripper_z_dist": 0.00014714340759747202,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08883116883695008,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.329983646192544,
+              1.2403829536712563
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+              1.2403829536712563
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+              0.3429111010906261,
+              1.2403829536712563
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+            "held_grasp_object_position": [
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+              0.3558385559887082,
+              1.2403829536712563
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+            "held_grasp_finger_gap": 0.027991854824953397,
+            "held_grasp_max_gap": 0.12496573239564895,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025376228178385484,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04221195793640561,
+              -0.9989991912431191,
+              0.014790757342655336
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004816867100407991,
+            "held_grasp_line_xy_max_dist": 0.04748286619782448,
+            "held_grasp_object_top_z": 0.04520067200064659,
+            "held_grasp_top_clearance": 0.032059752113807474,
+            "held_grasp_min_top_clearance": 0.013560201600193977
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
+                "groundplane",
+                "link0",
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3312127929894135,
+              -0.3851566354359975,
+              0.847019566345419
+            ],
+            "target_position": [
+              0.32211773371240193,
+              -0.3878915309125109,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009497355238160103,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18841204796672928,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019566345419,
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523394225051477,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08661158450153704,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15761457070572088,
+            "release_required_pad_clearance": 0.05330579225076852,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6298673498067855,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008688628673553467,
+            "max_z_decrease": 0.008688628673553467,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499514709627801,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008688628673553467,
+            "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": 0.02100711926586232,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008688628673553467,
+            "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": 0.008688772556119165,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1778176575899124,
+              -0.44415298104286194,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1778176575899124,
+              -0.44415298104286194,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17786079590128204,
+              -0.4434214020714107,
+              0.8031086059140135
+            ],
+            "closest_button": [
+              0.17784234881401056,
+              -0.4441094994544983,
+              0.7681202292442322
+            ],
+            "closest_ee_minus_button": [
+              1.8447087271472595e-05,
+              0.0006880973830876158,
+              0.034988376669781274
+            ],
+            "button_min_z_position": [
+              0.17784234881401056,
+              -0.4441094994544983,
+              0.7681202292442322
+            ],
+            "min_active_finger_to_button": 0.145570419112925,
+            "closest_active_finger": [
+              0.05019928514957428,
+              -0.5050747394561768,
+              0.8099218010902405
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+            "closest_active_finger_button": [
+              0.17782308161258692,
+              -0.44415509700775146,
+              0.7754006385803223
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12762379646301264,
+              -0.06091964244842529,
+              0.03452116250991821
+            ],
+            "min_contact_pad_to_button": 0.02100711926586232,
+            "closest_contact_pad": [
+              0.17784234881401056,
+              -0.4447318610035521,
+              0.7891181273760077
+            ],
+            "closest_contact_pad_button": [
+              0.17784234881401056,
+              -0.4441094994544983,
+              0.7681202292442322
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006223615490538181,
+              0.02099789813177555
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3a453dfb62f4c889ba41b7dc28f174d6ac941a6fbb18747a088408b72b3d4ff1",
+    "visual_seed": 1862492637783783760,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fb098900c65f2d603317a7e1c3aa01c00bab3d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_59_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2929324039565515,
+              0.3542989704949619,
+              1.048483185007338
+            ],
+            "current_z": 1.048483185007338,
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+            "initial_z": 0.7565866296627227,
+            "lift_margin": 0.19189655534461525,
+            "gripper_z": 1.0479143638758777,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2876041211606575,
+              0.34931031110279454,
+              1.0479143638758777
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+              0.005328282795894035,
+              0.0049886593921673605,
+              0.0005688211314602842
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+            "object_to_gripper_xy": 0.007299131460939717,
+            "object_to_gripper_z": 0.0005688211314602842,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2929324039565515,
+              0.3296825928244408,
+              1.048483185007338
+            ],
+            "finger_b": [
+              0.2808910839460733,
+              0.3542989704949619,
+              1.048483185007338
+            ],
+            "finger_midpoint": [
+              0.2869117439513124,
+              0.3419907816597013,
+              1.048483185007338
+            ],
+            "object_minus_finger_midpoint": [
+              0.006020660005239098,
+              0.01230818883526058,
+              0.0
+            ],
+            "finger_gap": 0.02740363912352651,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013701819561763279,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "finger_top_clearance": 0.04626685092315386,
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+            "object_projection_between_fingers": 0.8069224775535793,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04848116609440768,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7417509877418637,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e5d496654770e10bb95b59900f2a125658955582f506b68bb2b2859373545a3c",
+    "visual_seed": 5427689536170838659,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..16a56f4cbbde42083c275ba7e939ed26dcad1e8c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_5_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "object_position": [
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+              0.3460166423969139,
+              1.0498422132802891
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+            "lift_margin": 0.19325551492010706,
+            "gripper_z": 1.049616188122838,
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+            "gripper_position": [
+              0.2864354983034729,
+              0.34089984045971744,
+              1.049616188122838
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+              0.005116801937196436,
+              0.00022602515745107077
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+            "object_to_gripper_z": 0.00022602515745107077,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.32122744971305633,
+              1.0498422132802891
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+              1.0498422132802891
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+              0.33362204605498513,
+              1.0498422132802891
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+              0.012394596341928743,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04798189717756347,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3446304472282327,
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+              0.34932778445778484,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.007576161725709647,
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+            "max_held_gripper_z_dist": 0.00024119579633241628,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08868833521772507,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.32359850505616794,
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+              0.33646314475697636,
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+              0.34932778445778484,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              0.011593785268249168
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004249513580168731,
+            "held_grasp_line_xy_max_dist": 0.04748282894492149,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "target": "heater_platform",
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+          "metrics": {
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15791919390590234,
+            "release_required_pad_clearance": 0.05278766591645191,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6230659973955628,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008636474609375,
+            "max_z_decrease": 0.008636474609375,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035059049974555175,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008636474609375,
+            "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": 0.02090280833398661,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008636474609375,
+            "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": 0.008636640355962974,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17497657239437103,
+              -0.4405954480171204,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17497657239437103,
+              -0.4405954480171204,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17297387544295587,
+              -0.4390360053938135,
+              0.8031382224313791
+            ],
+            "closest_button": [
+              0.17502060532569885,
+              -0.4405650496482849,
+              0.7681723833084106
+            ],
+            "closest_ee_minus_button": [
+              -0.002046729882742987,
+              0.0015290442544714233,
+              0.03496583912296847
+            ],
+            "button_min_z_position": [
+              0.17502060532569885,
+              -0.4405650496482849,
+              0.7681723833084106
+            ],
+            "min_active_finger_to_button": 0.14694732699292415,
+            "closest_active_finger": [
+              0.04557269811630249,
+              -0.5011669397354126,
+              0.8108150959014893
+            ],
+            "closest_active_finger_button": [
+              0.17497798800468448,
+              -0.44059854745864874,
+              0.7764747738838196
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12940528988838199,
+              -0.06056839227676386,
+              0.03434032201766968
+            ],
+            "min_contact_pad_to_button": 0.02090280833398661,
+            "closest_contact_pad": [
+              0.17502060532569885,
+              -0.4405650496482849,
+              0.7890751916423973
+            ],
+            "closest_contact_pad_button": [
+              0.17502060532569885,
+              -0.4405650496482849,
+              0.7681723833084106
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02090280833398661
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0bc438a5ee0c4c333e426ff604723a52917e20dc6bcc2cd705e32658f6e92dec",
+    "visual_seed": 9117716426693562781,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..94d6a2fc99c181f494618a2ba5b6ea1bdf5f80df
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_60_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28815772533282724,
+              0.351071776861229,
+              1.0494401086828098
+            ],
+            "current_z": 1.0494401086828098,
+            "required_z": 0.8565866608066889,
+            "initial_z": 0.7565866608066889,
+            "lift_margin": 0.1928534478761209,
+            "gripper_z": 1.0491986399419848,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28260923657776993,
+              0.3460422778863169,
+              1.0491986399419848
+            ],
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+              0.0055484887550573125,
+              0.005029498974912061,
+              0.00024146874082497938
+            ],
+            "object_to_gripper_xy": 0.007488764077178484,
+            "object_to_gripper_z": 0.00024146874082497938,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28815772533282724,
+              0.32621633438424935,
+              1.0494401086828098
+            ],
+            "finger_b": [
+              0.27617216514949283,
+              0.351071776861229,
+              1.0494401086828098
+            ],
+            "finger_midpoint": [
+              0.28216494524116004,
+              0.33864405562273914,
+              1.0494401086828098
+            ],
+            "object_minus_finger_midpoint": [
+              0.005992780091667205,
+              0.012427721238489842,
+              0.0
+            ],
+            "finger_gap": 0.027594323213928882,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013797161606964465,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0494401086828098,
+            "object_top_z": 1.0955010447557136,
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+            "object_projection_between_fingers": 0.8113411511503507,
+            "object_to_finger_line_xy": 0.010795930720303729,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04831038229102501,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.49421731864005214,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2881708512655613,
+              0.34986343885354876,
+              1.238476631811277
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+            "held_position": [
+              0.2940301197932753,
+              0.3545296850036614,
+              1.2386422371080752
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007492149619944098,
+            "max_held_gripper_dist": 0.007493561046971238,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00016560529679821023,
+            "max_held_gripper_z_dist": 0.000253442890835176,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08881793883915734,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "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",
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+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "joint2",
+                "joint3",
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+                "joint7",
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+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
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+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
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+            },
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+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3282159318861334,
+              -0.38679598178355973,
+              0.847019638863451
+            ],
+            "target_position": [
+              0.3196649557367703,
+              -0.3896298265670159,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009008322228012199,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1883798500782823,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019638863451,
+            "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": 0.07549953040876448,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530489261281658,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15687038265001457,
+            "release_required_pad_clearance": 0.05265244630640829,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3626158109298605,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008722782135009766,
+            "max_z_decrease": 0.008722782135009766,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504924845381631,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008722782135009766,
+            "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": 0.02100543854156266,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008722782135009766,
+            "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": 0.008723002367961068,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17536488175392148,
+              -0.44589129090309143,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17536488175392148,
+              -0.44589129090309143,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17689447310546466,
+              -0.4449614929863075,
+              0.8034607004874496
+            ],
+            "closest_button": [
+              0.17533302307128903,
+              -0.4458408057689666,
+              0.768457293510437
+            ],
+            "closest_ee_minus_button": [
+              0.0015614500341756266,
+              0.0008793127826591252,
+              0.03500340697701254
+            ],
+            "button_min_z_position": [
+              0.17532567679882047,
+              -0.4458432793617248,
+              0.7680860757827759
+            ],
+            "min_active_finger_to_button": 0.14419967660710623,
+            "closest_active_finger": [
+              0.04916249215602875,
+              -0.5065087080001831,
+              0.8104724884033203
+            ],
+            "closest_active_finger_button": [
+              0.17537105083465576,
+              -0.44589391350746155,
+              0.775964617729187
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12620855867862701,
+              -0.06061479449272156,
+              0.0345078706741333
+            ],
+            "min_contact_pad_to_button": 0.02100543854156266,
+            "closest_contact_pad": [
+              0.17532567679882047,
+              -0.44626880530541896,
+              0.7890872037523543
+            ],
+            "closest_contact_pad_button": [
+              0.17532567679882047,
+              -0.4458432793617248,
+              0.7680860757827759
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004255259436941605,
+              0.021001127969578426
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b94f14af376af39c4b94df2fb0a8a831a967d016922a373952cc84bfb5a53345",
+    "visual_seed": 5300019532818614848,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeb3fe29eaa588510ccc713e256827e9942bea9d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_61_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29252057478729504,
+              0.3505826301210065,
+              1.0511519510970309
+            ],
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+            "button_max_displacement": 0.008711599702998805,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18207073211669922,
+              -0.44019496440887457,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18207073211669922,
+              -0.44019496440887457,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18028897316730516,
+              -0.4404999887143613,
+              0.8030666596637063
+            ],
+            "closest_button": [
+              0.18211185932159424,
+              -0.4401521980762482,
+              0.768097460269928
+            ],
+            "closest_ee_minus_button": [
+              -0.0018228861542890773,
+              -0.00034779063811307687,
+              0.034969199393778294
+            ],
+            "button_min_z_position": [
+              0.18211185932159424,
+              -0.4401521980762482,
+              0.768097460269928
+            ],
+            "min_active_finger_to_button": 0.14748745507888952,
+            "closest_active_finger": [
+              0.039367832243442535,
+              -0.4259553551673889,
+              0.810453474521637
+            ],
+            "closest_active_finger_button": [
+              0.18207421898841852,
+              -0.4401993751525879,
+              0.776036262512207
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.142706386744976,
+              0.014244019985198975,
+              0.03441721200942993
+            ],
+            "min_contact_pad_to_button": 0.020925014170205664,
+            "closest_contact_pad": [
+              0.18211185932159424,
+              -0.4415296084787195,
+              0.7889770905014831
+            ],
+            "closest_contact_pad_button": [
+              0.18211185932159424,
+              -0.4401521980762482,
+              0.768097460269928
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013774104024713019,
+              0.020879630231555146
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "81b632e7b10eee9d196988234dab96b6ef56db7ecb07d9c022a200a8663d58ad",
+    "visual_seed": 5867618502576337990,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9eec3d56fce78c32e38bb4410fa698d70106984
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_62_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28720315842747973,
+              0.3447380099678156,
+              1.0509329454837544
+            ],
+            "current_z": 1.0509329454837544,
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+            "initial_z": 0.7565865723971419,
+            "lift_margin": 0.1943463730866125,
+            "gripper_z": 1.0508015630358125,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2812817069002464,
+              0.3395336693748467,
+              1.0508015630358125
+            ],
+            "object_minus_gripper": [
+              0.005921451527233335,
+              0.005204340592968926,
+              0.0001313824479418635
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+            "object_to_gripper_xy": 0.007883447798837647,
+            "object_to_gripper_z": 0.0001313824479418635,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.28720315842747973,
+              0.3195517540187952,
+              1.0509329454837544
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+            "finger_b": [
+              0.27505099666765515,
+              0.3447380099678156,
+              1.0509329454837544
+            ],
+            "finger_midpoint": [
+              0.28112707754756744,
+              0.3321448819933054,
+              1.0509329454837544
+            ],
+            "object_minus_finger_midpoint": [
+              0.006076080879912293,
+              0.012593127974510232,
+              0.0
+            ],
+            "finger_gap": 0.027964665636594138,
+            "fingertip_max_gap": 0.09169464663608037,
+            "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": 1.0509329454837544,
+            "object_top_z": 1.0968010105448258,
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+            "object_projection_between_fingers": 0.8111626828212687,
+            "object_to_finger_line_xy": 0.010944792274445246,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04834732331804019,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.44329207394133824,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2869219986597181,
+              0.34339375684815115,
+              1.2389851501761675
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+            "held_position": [
+              0.29313967739343705,
+              0.3482412328370899,
+              1.239024048123198
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007884102063606324,
+            "max_held_gripper_dist": 0.007885535287661958,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 3.8897947030491764e-05,
+            "max_held_gripper_z_dist": 0.00014798868102539053,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.088725397365644,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29313967739343705,
+              0.32235402242215716,
+              1.239024048123198
+            ],
+            "held_grasp_finger_b": [
+              0.2824563642946604,
+              0.3482412328370899,
+              1.239024048123198
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+            "held_grasp_midpoint": [
+              0.2877980208440487,
+              0.33529762762962356,
+              1.239024048123198
+            ],
+            "held_grasp_object_position": [
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+              0.3482412328370899,
+              1.239024048123198
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+            "held_grasp_finger_gap": 0.028005014583704375,
+            "held_grasp_max_gap": 0.12496590375900268,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025289469775594684,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05242414438284661,
+              -0.9985445673613829,
+              0.012667125909038734
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004658702471544008,
+            "held_grasp_line_xy_max_dist": 0.04748295187950134,
+            "held_grasp_object_top_z": 0.04520070180296898,
+            "held_grasp_top_clearance": 0.03199590336679421,
+            "held_grasp_min_top_clearance": 0.013560210540890693
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              -0.3833733176972725,
+              0.8470199214128022
+            ],
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+              0.8084375599031817
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+            "gripper_away_ok": true,
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+            "object_upright_reference_source": "scene_initial",
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.7066480898324844,
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+            "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"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00882720947265625,
+            "max_z_decrease": 0.00882720947265625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501877521300581,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00882720947265625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021055779638532102,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00882720947265625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008827447832324954,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17505046725273132,
+              -0.4427659213542938,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17505046725273132,
+              -0.4427659213542938,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17436567633429462,
+              -0.44419900862021183,
+              0.8033359735902267
+            ],
+            "closest_button": [
+              0.1750505566596985,
+              -0.44271901249885554,
+              0.7683551907539368
+            ],
+            "closest_ee_minus_button": [
+              -0.0006848803254038693,
+              -0.0014799961213562973,
+              0.034980782836289914
+            ],
+            "button_min_z_position": [
+              0.17507734894752502,
+              -0.4427068829536438,
+              0.7679816484451294
+            ],
+            "min_active_finger_to_button": 0.14628021952580267,
+            "closest_active_finger": [
+              0.03363893926143646,
+              -0.4280322790145874,
+              0.810626745223999
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+              0.17505314946174622,
+              -0.4427681863307953,
+              0.7762352228164673
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.14141421020030975,
+              0.014735907316207886,
+              0.03439152240753174
+            ],
+            "min_contact_pad_to_button": 0.021055779638532102,
+            "closest_contact_pad": [
+              0.17507734894752502,
+              -0.44536965594403405,
+              0.7888683785910395
+            ],
+            "closest_contact_pad_button": [
+              0.17507734894752502,
+              -0.4427068829536438,
+              0.7679816484451294
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026627729903902497,
+              0.020886730145910137
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3cd30a9ee6826ff90fb8d1ac0b02950c9b1b1fdb4a3e1b936b7923f47e3abe12",
+    "visual_seed": 7013744937701637905,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cea533ef90085bd3fbfc894fb0687388347d7c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_63_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2894824234865389,
+              0.3507486690798077,
+              1.0499767759335206
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+            "initial_z": 0.7565865765025419,
+            "lift_margin": 0.19339019943097868,
+            "gripper_z": 1.0495982959465553,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28409311543940646,
+              0.34581030712076766,
+              1.0495982959465553
+            ],
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+              0.005389308047132446,
+              0.004938361959040016,
+              0.0003784799869652744
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+            "object_to_gripper_xy": 0.007309723665459598,
+            "object_to_gripper_z": 0.0003784799869652744,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2894824234865389,
+              0.32604086281003875,
+              1.0499767759335206
+            ],
+            "finger_b": [
+              0.27755586360946044,
+              0.3507486690798077,
+              1.0499767759335206
+            ],
+            "finger_midpoint": [
+              0.2835191435479997,
+              0.33839476594492324,
+              1.0499767759335206
+            ],
+            "object_minus_finger_midpoint": [
+              0.005963279938539234,
+              0.012353903134884436,
+              0.0
+            ],
+            "finger_gap": 0.02743571615915959,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013717858079579771,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8110278590180006,
+            "object_to_finger_line_xy": 0.010740712186923285,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04873369424249936,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9116010599139415,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
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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": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bfd719d06b8f8d8b76b8c72ca1eb95d50052f4e12034b23d72c6a8634b401d2f",
+    "visual_seed": 1860846513923142150,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
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+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d5acb452d6f132126be9b787a60ca89529bac4c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_64_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              1.047582528736123
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+              0.3398930833883136,
+              1.0474730588446115
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+              0.005276718503266553,
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+              0.3200878034630932,
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+              1.047582528736123
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+              0.33262880267733663,
+              1.047582528736123
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04948203725535465,
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+              0.0,
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+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+      },
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3486147943838351,
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+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 5.331951568554594e-05,
+            "max_held_gripper_z_dist": 0.00014419532039244842,
+            "held_gripper_z_max_dist": 0.15,
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+              0.3356522484458587,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.004786762929031947,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "metrics": {
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15438236828377078,
+            "release_required_pad_clearance": 0.05374073884209356,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.49073924240391,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008805274963378906,
+            "max_z_decrease": 0.008805274963378906,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350021944780694,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008805274963378906,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020890234764231692,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008805274963378906,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008805473593151762,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17657200992107386,
+              -0.44904232025146484,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17657200992107386,
+              -0.44904232025146484,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17658433806953056,
+              -0.44815610984920656,
+              0.8029958957810274
+            ],
+            "closest_button": [
+              0.1765508353710174,
+              -0.44898709654808044,
+              0.7680035829544067
+            ],
+            "closest_ee_minus_button": [
+              3.3502698513154794e-05,
+              0.0008309866988738812,
+              0.03499231282662063
+            ],
+            "button_min_z_position": [
+              0.1765508353710174,
+              -0.44898709654808044,
+              0.7680035829544067
+            ],
+            "min_active_finger_to_button": 0.14547201747797173,
+            "closest_active_finger": [
+              0.04990895092487335,
+              -0.5118390321731567,
+              0.8107705116271973
+            ],
+            "closest_active_finger_button": [
+              0.1765733808279037,
+              -0.44904401898384094,
+              0.7764919996261597
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12666442990303034,
+              -0.0627950131893158,
+              0.0342785120010376
+            ],
+            "min_contact_pad_to_button": 0.020890234764231692,
+            "closest_contact_pad": [
+              0.1765508353710174,
+              -0.4492618516186994,
+              0.7888920108070692
+            ],
+            "closest_contact_pad_button": [
+              0.1765508353710174,
+              -0.44898709654808044,
+              0.7680035829544067
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00027475507061897053,
+              0.020888427852662428
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1f3de36fa51b3cc4152542bd14ab1aaf9c9559181e67b17b0acd6db36d46c152",
+    "visual_seed": 7115686580609016870,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ffdd2738a36dd18f74e63b18fe97d46e5467566
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_65_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.28985070241692523,
+              0.3452312207922188,
+              1.048900918821265
+            ],
+            "current_z": 1.048900918821265,
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+            "lift_margin": 0.1923144710173441,
+            "gripper_z": 1.0486173135211734,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28454168254516576,
+              0.34018952820991977,
+              1.0486173135211734
+            ],
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+              0.005309019871759468,
+              0.005041692582299029,
+              0.0002836053000916383
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+            "object_to_gripper_z": 0.0002836053000916383,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.28985070241692523,
+              0.3206948788619441,
+              1.048900918821265
+            ],
+            "finger_b": [
+              0.2776454463766613,
+              0.3452312207922188,
+              1.048900918821265
+            ],
+            "finger_midpoint": [
+              0.2837480743967933,
+              0.33296304982708147,
+              1.048900918821265
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061026280201319505,
+              0.012268170965137326,
+              0.0
+            ],
+            "finger_gap": 0.027404385603909395,
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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": 0.8016402057024526,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048342007167069254,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.680398254116231,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29040958783223325,
+              0.3434852866954678,
+              1.2376258671803226
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+            "held_position": [
+              0.2961614044829748,
+              0.348022094994736,
+              1.2378164719112483
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0073281890321898685,
+            "max_held_gripper_dist": 0.007330322037953576,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00019060473092569197,
+            "max_held_gripper_z_dist": 0.00029559451615956966,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08880031735508165,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2961614044829748,
+              0.3222655845528016,
+              1.2378164719112483
+            ],
+            "held_grasp_finger_b": [
+              0.28622604598061074,
+              0.348022094994736,
+              1.2378164719112483
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+            "held_grasp_midpoint": [
+              0.29119372523179277,
+              0.3351438397737688,
+              1.2378164719112483
+            ],
+            "held_grasp_object_position": [
+              0.2961614044829748,
+              0.348022094994736,
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "geometry",
+                "gripper",
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+                "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",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
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+                "workbench"
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32568960569243305,
+              -0.390601023631378,
+              0.8470198410613151
+            ],
+            "target_position": [
+              0.3179937505902843,
+              -0.392608292115169,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007953320848506605,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1886465365552562,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198410613151,
+            "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": 0.0756271082247228,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08551069214724681,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15662301353059763,
+            "release_required_pad_clearance": 0.05275534607362341,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.559528775119075,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008808732032775879,
+            "max_z_decrease": 0.008808732032775879,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504422225798799,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008808732032775879,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02101429509848639,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008808732032775879,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008809127020595092,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17369367182254786,
+              -0.4488697648048401,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17369367182254786,
+              -0.4488697648048401,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17528934764546847,
+              -0.4492014137276354,
+              0.8033775471158899
+            ],
+            "closest_button": [
+              0.1736504435539245,
+              -0.44881629943847656,
+              0.7683737874031067
+            ],
+            "closest_ee_minus_button": [
+              0.0016389040915439634,
+              -0.00038511428915882773,
+              0.035003759712783244
+            ],
+            "button_min_z_position": [
+              0.17363722622394556,
+              -0.44880834221839905,
+              0.7680001258850098
+            ],
+            "min_active_finger_to_button": 0.14422267767049,
+            "closest_active_finger": [
+              0.034649260342121124,
+              -0.4322061538696289,
+              0.8084949254989624
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+            "closest_active_finger_button": [
+              0.17370024323463434,
+              -0.44887423515319824,
+              0.7740394473075867
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13905098289251322,
+              0.016668081283569336,
+              0.03445547819137573
+            ],
+            "min_contact_pad_to_button": 0.02101429509848639,
+            "closest_contact_pad": [
+              0.17363722622394556,
+              -0.4504458263445592,
+              0.7889505255046553
+            ],
+            "closest_contact_pad_button": [
+              0.17363722622394556,
+              -0.44880834221839905,
+              0.7680001258850098
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016374841261601603,
+              0.02095039961964551
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5021cba7cdc5891576f8a1a22a2b128e9092a22a2ebfe4ae85434be205250b9d",
+    "visual_seed": 2672487950931373253,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d45476a289bc01c4bd07ff25312de6ab243044c7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_67_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2889578854778712,
+              0.3449184288876677,
+              1.0504116332274847
+            ],
+            "current_z": 1.0504116332274847,
+            "required_z": 0.8565866137176122,
+            "initial_z": 0.7565866137176123,
+            "lift_margin": 0.1938250195098724,
+            "gripper_z": 1.0505284487561863,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2834612128280367,
+              0.3398738018885909,
+              1.0505284487561863
+            ],
+            "object_minus_gripper": [
+              0.0054966726498345,
+              0.005044626999076818,
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+              -0.4455082416534424,
+              0.7682835459709167
+            ],
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+              -0.0011278005273760994,
+              0.03497689064497089
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+              -0.44549867510795593,
+              0.76787269115448
+            ],
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+            "closest_active_finger": [
+              0.040749914944171906,
+              -0.4317285120487213,
+              0.8107789754867554
+            ],
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+              0.18268407881259924,
+              -0.445568323135376,
+              0.7763367295265198
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14193416386842733,
+              0.013839811086654663,
+              0.034442245960235596
+            ],
+            "min_contact_pad_to_button": 0.02100091553720216,
+            "closest_contact_pad": [
+              0.18270899355411535,
+              -0.44768598129489107,
+              0.788759388955839
+            ],
+            "closest_contact_pad_button": [
+              0.18270899355411535,
+              -0.44549867510795593,
+              0.76787269115448
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002187306186935134,
+              0.02088669780135899
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "20d310edd61ce7f202394ba44ca1da43b747e2b181cd2a1c9cf185e601c7a664",
+    "visual_seed": 7333539341678215771,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..74968130b7c9104c72723b642d74f3ab481f2a3b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_68_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              0.2930850855122967,
+              0.35259587820793664,
+              1.0479048260246269
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+            "gripper_z": 1.0472687453202238,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2878485564702955,
+              0.34764500479815297,
+              1.0472687453202238
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+              0.00523652904200117,
+              0.004950873409783674,
+              0.0006360807044030192
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+            "object_to_gripper_z": 0.0006360807044030192,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2930850855122967,
+              0.3280339475434068,
+              1.0479048260246269
+            ],
+            "finger_b": [
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+              0.35259587820793664,
+              1.0479048260246269
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+            "finger_midpoint": [
+              0.28709914322400043,
+              0.3403149128756717,
+              1.0479048260246269
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+              0.012280965332264915,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010761599469212655,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0482451134425108,
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3512183508060138,
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+              0.3557157552309617,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0005760339835789718,
+            "max_held_gripper_z_dist": 0.0006658343705661096,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0888031247034764,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              1.2389234087852865
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+              0.3428651174822701,
+              1.2389234087852865
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+            "held_grasp_object_position": [
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+              0.3557157552309617,
+              1.2389234087852865
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+            "held_grasp_max_gap": 0.12496565788984298,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024688427854250967,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9957503307955824,
+              0.0142249148408643
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037803159697321247,
+            "held_grasp_line_xy_max_dist": 0.04748282894492149,
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+            "held_grasp_min_top_clearance": 0.013560181483626366
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3299470210175441,
+              -0.39087952003784016,
+              0.847020076439674
+            ],
+            "target_position": [
+              0.3219603753870252,
+              -0.39295557932215713,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008252062201624812,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18734740301459746,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847020076439674,
+            "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": 0.07519560335682364,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0864869838407145,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1566528362931005,
+            "release_required_pad_clearance": 0.05324349192035725,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.506588845521742,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00890117883682251,
+            "max_z_decrease": 0.00890117883682251,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503280436071391,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00890117883682251,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021031889378746765,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00890117883682251,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008901418336923357,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17766030132770533,
+              -0.4492170512676239,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17766030132770533,
+              -0.4492170512676239,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1791726478908897,
+              -0.44869214993709583,
+              0.8029050584792555
+            ],
+            "closest_button": [
+              0.17766621708869926,
+              -0.44915202260017395,
+              0.7679076790809631
+            ],
+            "closest_ee_minus_button": [
+              0.001506430802190456,
+              0.00045987266307812025,
+              0.034997379398292394
+            ],
+            "button_min_z_position": [
+              0.17766621708869926,
+              -0.44915202260017395,
+              0.7679076790809631
+            ],
+            "min_active_finger_to_button": 0.14439023872356052,
+            "closest_active_finger": [
+              0.05140531808137894,
+              -0.510141909122467,
+              0.8097435235977173
+            ],
+            "closest_active_finger_button": [
+              0.17766655981540674,
+              -0.4492189586162567,
+              0.7751742601394653
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1262612417340278,
+              -0.06092295050621033,
+              0.03456926345825195
+            ],
+            "min_contact_pad_to_button": 0.021031889378746765,
+            "closest_contact_pad": [
+              0.17766621708869926,
+              -0.45002151537615814,
+              0.7889215876453486
+            ],
+            "closest_contact_pad_button": [
+              0.17766621708869926,
+              -0.44915202260017395,
+              0.7679076790809631
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008694927759841931,
+              0.021013908564385453
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4b16376e05ae3521f82f1018163dba3062a1c69fc6721c71544e4a0e42431dff",
+    "visual_seed": 4137303420593807719,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee038720c6d03b82e61188a230d2e8022289b065
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_69_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2925377141264846,
+              0.348728237990835,
+              1.0506433196499176
+            ],
+            "current_z": 1.0506433196499176,
+            "required_z": 0.8565866360144389,
+            "initial_z": 0.7565866360144389,
+            "lift_margin": 0.1940566836354788,
+            "gripper_z": 1.0503927959364423,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28697024930750226,
+              0.34355254269781005,
+              1.0503927959364423
+            ],
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+              0.005567464818982348,
+              0.005175695293024973,
+              0.00025052371347533686
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+            "object_to_gripper_xy": 0.007601610768570502,
+            "object_to_gripper_z": 0.00025052371347533686,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2925377141264846,
+              0.3240393416874416,
+              1.0506433196499176
+            ],
+            "finger_b": [
+              0.28010656166249054,
+              0.348728237990835,
+              1.0506433196499176
+            ],
+            "finger_midpoint": [
+              0.28632213789448757,
+              0.3363837898391383,
+              1.0506433196499176
+            ],
+            "object_minus_finger_midpoint": [
+              0.006215576231997033,
+              0.012344448151696719,
+              0.0
+            ],
+            "finger_gap": 0.02764190934546273,
+            "fingertip_max_gap": 0.09175996569142678,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013820954672731365,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0506433196499176,
+            "object_top_z": 1.0968132857657773,
+            "finger_top_clearance": 0.04616996611585966,
+            "fingertip_min_top_clearance": 0.013850989834757898,
+            "object_projection_between_fingers": 0.7977508480344891,
+            "object_to_finger_line_xy": 0.011103119914022906,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04837998284571339,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.618927413577012,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+            "forbidden": [],
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    }
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+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
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+  "reproducibility": {
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+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
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+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
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+    "strict_task_state": false,
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+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "da15027e537beba8428619e797b54078a9d9fa0c086a48992d7eaa822aa12607",
+    "visual_seed": 2681335325603281193,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      3930001998081723350,
+      4554555277898534358,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffcf9c33d2f9b21791475a50402643900bdcb191
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+            "stable_success_frames": 227,
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "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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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
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+          "metrics": {
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+          "failure_code": null,
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+              "held_object": "beaker_b",
+              "allowed_objects": [
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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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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_required_pad_clearance": 0.05252122994904333,
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+            "force_virtual_attach": false,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0089072585105896,
+            "max_z_decrease": 0.0089072585105896,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505930391013927,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0089072585105896,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020901831687209563,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0089072585105896,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008907593801096549,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1772661060094833,
+              -0.44784989953041077,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1772661060094833,
+              -0.44784989953041077,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1790304013752466,
+              -0.44719869297026393,
+              0.8033202163354879
+            ],
+            "closest_button": [
+              0.1772285401821136,
+              -0.44778859615325933,
+              0.7683122158050537
+            ],
+            "closest_ee_minus_button": [
+              0.0018018611931329975,
+              0.0005899031829953993,
+              0.03500800053043418
+            ],
+            "button_min_z_position": [
+              0.17721880972385404,
+              -0.44778877496719366,
+              0.767901599407196
+            ],
+            "min_active_finger_to_button": 0.14403507216712094,
+            "closest_active_finger": [
+              0.05285360664129257,
+              -0.5118290781974792,
+              0.8106493949890137
+            ],
+            "closest_active_finger_button": [
+              0.1772685050964355,
+              -0.4478524625301361,
+              0.7763853073120117
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12441489845514292,
+              -0.06397661566734314,
+              0.03426408767700195
+            ],
+            "min_contact_pad_to_button": 0.020901831687209563,
+            "closest_contact_pad": [
+              0.17721880972385404,
+              -0.4481976607762701,
+              0.7887994313587544
+            ],
+            "closest_contact_pad_button": [
+              0.17721880972385404,
+              -0.44778877496719366,
+              0.767901599407196
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00040888580907644245,
+              0.020897831951558365
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1e35d1b3493ef078eed992b840e9fd9afff8bdce6cd51039212c0df83eafe0f5",
+    "visual_seed": 3273043401552430206,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba1ab259242f7899624a9cf1f8e324760077dc5e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_70_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2926140130142623,
+              0.34841126466655037,
+              1.050073103252991
+            ],
+            "current_z": 1.050073103252991,
+            "required_z": 0.8565867451384184,
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+            "lift_margin": 0.1934863581145727,
+            "gripper_z": 1.0497320329439073,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28723366431213737,
+              0.3433561586603786,
+              1.0497320329439073
+            ],
+            "object_minus_gripper": [
+              0.0053803487021249485,
+              0.005055106006171761,
+              0.00034107030908381297
+            ],
+            "object_to_gripper_xy": 0.007382563842601798,
+            "object_to_gripper_z": 0.00034107030908381297,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2926140130142623,
+              0.323800972653652,
+              1.050073103252991
+            ],
+            "finger_b": [
+              0.28041881778149497,
+              0.34841126466655037,
+              1.050073103252991
+            ],
+            "finger_midpoint": [
+              0.28651641539787864,
+              0.3361061186601012,
+              1.050073103252991
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060975976163836765,
+              0.012305146006449164,
+              0.0
+            ],
+            "finger_gap": 0.027466147522458288,
+            "fingertip_max_gap": 0.09154424316758239,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01373307376122912,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050073103252991,
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+            "finger_top_clearance": 0.04608998911715889,
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+            "object_projection_between_fingers": 0.802856701831308,
+            "object_to_finger_line_xy": 0.010927171915438981,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0482721215837912,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6803518451055617,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2931841603624594,
+              0.3466669891074576,
+              1.237488876487607
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+            "held_position": [
+              0.2989990457304878,
+              0.3512248488489943,
+              1.2377291115350324
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007392204687699275,
+            "max_held_gripper_dist": 0.0073945693341681265,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00024023504742531898,
+            "max_held_gripper_z_dist": 0.0003529686523340292,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08876468867886989,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2989990457304878,
+              0.32543896475770645,
+              1.2377291115350324
+            ],
+            "held_grasp_finger_b": [
+              0.2890317596962075,
+              0.3512248488489943,
+              1.2377291115350324
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+            "held_grasp_midpoint": [
+              0.29401540271334764,
+              0.33833190680335035,
+              1.2377291115350324
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+            "held_grasp_object_position": [
+              0.2989990457304878,
+              0.3512248488489943,
+              1.2377291115350324
+            ],
+            "held_grasp_finger_gap": 0.027645227603665903,
+            "held_grasp_max_gap": 0.12496559828519821,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024767290077899056,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+                "beaker_b"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint1",
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+                "joint4",
+                "joint5",
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+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "workbench"
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+            },
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+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3311025263020669,
+              -0.3868328980674054,
+              0.8470210169263444
+            ],
+            "target_position": [
+              0.32295546650604856,
+              -0.3889033180337058,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00840602296908315,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1859785337945701,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470210169263444,
+            "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": 0.07527766437978957,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08596810387664332,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15499442427919596,
+            "release_required_pad_clearance": 0.05298405193832166,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9962080682171918,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008757352828979492,
+            "max_z_decrease": 0.008757352828979492,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0349920078154675,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008757352828979492,
+            "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": 0.020940196477854785,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008757352828979492,
+            "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": 0.00875758780817797,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17865538597106934,
+              -0.4451647698879242,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17865538597106934,
+              -0.4451647698879242,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17791958697102928,
+              -0.445619272593774,
+              0.8030312591016423
+            ],
+            "closest_button": [
+              0.1786965876817703,
+              -0.44511559605598455,
+              0.7680515050888062
+            ],
+            "closest_ee_minus_button": [
+              -0.0007770007107410215,
+              -0.0005036765377894326,
+              0.03497975401283615
+            ],
+            "button_min_z_position": [
+              0.1786965876817703,
+              -0.44511559605598455,
+              0.7680515050888062
+            ],
+            "min_active_finger_to_button": 0.14643407895907498,
+            "closest_active_finger": [
+              0.0370699018239975,
+              -0.4305541515350342,
+              0.8103106021881104
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+            "closest_active_finger_button": [
+              0.1786580383777618,
+              -0.4451678693294525,
+              0.7759277820587158
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14158813655376432,
+              0.014613717794418335,
+              0.03438282012939453
+            ],
+            "min_contact_pad_to_button": 0.020940196477854785,
+            "closest_contact_pad": [
+              0.1786965876817703,
+              -0.44669735153079154,
+              0.7889318757308489
+            ],
+            "closest_contact_pad_button": [
+              0.1786965876817703,
+              -0.44511559605598455,
+              0.7680515050888062
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015817554748069895,
+              0.020880370642042734
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "81bfde16a2aa09d1660d26352fa3c38e8dcc7064756d05e0c61a81c13080954f",
+    "visual_seed": 231303773264391284,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..081ede4d3feaeae4295acafbb0a3c149ae5d4dc9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_71_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2914267731427199,
+              0.3433033656254843,
+              1.048588997392237
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+            "current_z": 1.048588997392237,
+            "required_z": 0.8565865828943809,
+            "initial_z": 0.756586582894381,
+            "lift_margin": 0.19200241449785616,
+            "gripper_z": 1.048389911159776,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2858600428784412,
+              0.3382524073777053,
+              1.048389911159776
+            ],
+            "object_minus_gripper": [
+              0.00556673026427873,
+              0.005050958247779014,
+              0.00019908623246100987
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+            "object_to_gripper_xy": 0.007516692427926234,
+            "object_to_gripper_z": 0.00019908623246100987,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2914267731427199,
+              0.3184630560439409,
+              1.048588997392237
+            ],
+            "finger_b": [
+              0.2793712505371491,
+              0.3433033656254843,
+              1.048588997392237
+            ],
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+            "closest_active_finger": [
+              0.04281110316514969,
+              -0.4244682490825653,
+              0.8081462383270264
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+              0.182025134563446,
+              -0.43964010477066034,
+              0.7736228108406067
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+            "closest_active_finger_minus_button": [
+              -0.1392140313982963,
+              0.015171855688095037,
+              0.03452342748641968
+            ],
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+            "closest_contact_pad": [
+              0.18197105824947352,
+              -0.44059518367455247,
+              0.7890622402704308
+            ],
+            "closest_contact_pad_button": [
+              0.18197105824947352,
+              -0.43958514928817743,
+              0.7680809497833252
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001010034386375036,
+              0.02098129048710562
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0d4152512717e0655c91295a6461989cbda0cdf0b08cd1bd3ddc2b24431ed68a",
+    "visual_seed": 789396054033996225,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e18232b86d10e954b963c276fd5b76af946ece63
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_73_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.34796160079007166,
+              1.0504377052625906
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+            "gripper_z": 1.050211148074383,
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+              0.2825144350541355,
+              0.3429035574476238,
+              1.050211148074383
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+              0.005286238036905755,
+              0.00505804334244786,
+              0.00022655718820763227
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+            "object_to_gripper_z": 0.00022655718820763227,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.28780067309104124,
+              0.3235153498043707,
+              1.0504377052625906
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+              1.0504377052625906
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+              0.3357384752972212,
+              1.0504377052625906
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+              0.012223125492850484,
+              0.0
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+            "finger_gap": 0.027383044544140034,
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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": 0.04867100690260982,
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.34565794794970184,
+              1.239161408780371
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+              0.350117497952635,
+              1.2392944284141592
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+            "object_initial_z": 0.7730800627579277,
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0073200156894772505,
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+            "held_gripper_z_dist": 0.00013301963378808956,
+            "max_held_gripper_z_dist": 0.00023988747368952623,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08869807505905136,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.32422604659200643,
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+              0.3372395225919308,
+              1.2392944284141592
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+              0.350117497952635,
+              1.2392944284141592
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+            "held_grasp_max_gap": 0.12496607512235641,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02482688882994542,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9938202728760572,
+              0.02816925189488162
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034488283507047458,
+            "held_grasp_line_xy_max_dist": 0.04748303756117821,
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+            "held_grasp_min_top_clearance": 0.01356024295091629
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3283323160522739,
+              -0.38936833698178386,
+              0.847019577196714
+            ],
+            "target_position": [
+              0.3219362072669995,
+              -0.39035950621378573,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006472451161618117,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1857318877419235,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019577196714,
+            "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": 0.0751513234577686,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0871088760911266,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15485108886422144,
+            "release_required_pad_clearance": 0.0535544380455633,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.119604390502814,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008827149868011475,
+            "max_z_decrease": 0.008827149868011475,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502604777088709,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008827149868011475,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02104465033207128,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008827149868011475,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008827558903848629,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1776361316442489,
+              -0.44662097096443176,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1776361316442489,
+              -0.44662097096443176,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17870640749493064,
+              -0.44731106501597045,
+              0.8033568833684391
+            ],
+            "closest_button": [
+              0.17758938670158378,
+              -0.4465669095516205,
+              0.7683565616607666
+            ],
+            "closest_ee_minus_button": [
+              0.0011170207933468568,
+              -0.0007441554643499715,
+              0.03500032170767253
+            ],
+            "button_min_z_position": [
+              0.17757588624954218,
+              -0.4465610384941101,
+              0.7679817080497742
+            ],
+            "min_active_finger_to_button": 0.1447009027912261,
+            "closest_active_finger": [
+              0.03797145187854767,
+              -0.43110787868499756,
+              0.8091028928756714
+            ],
+            "closest_active_finger_button": [
+              0.1776423752307891,
+              -0.4466246962547302,
+              0.7746121287345886
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13967092335224143,
+              0.015516817569732666,
+              0.034490764141082764
+            ],
+            "min_contact_pad_to_button": 0.02104465033207128,
+            "closest_contact_pad": [
+              0.17757588624954218,
+              -0.4484836966966616,
+              0.7889383464499401
+            ],
+            "closest_contact_pad_button": [
+              0.17757588624954218,
+              -0.4465610384941101,
+              0.7679817080497742
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019226582025514971,
+              0.020956638400165928
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "98b575503adedf046318befd4383dd2a3a1cf01b26a8d690ccabd29e53327910",
+    "visual_seed": 6536314657088897634,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..64adc8cdcb6a2292b3afa07a6f683866f2c87866
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_74_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2900138531882544,
+              0.3467674428930412,
+              1.0486860544877474
+            ],
+            "current_z": 1.0486860544877474,
+            "required_z": 0.8565866465804455,
+            "initial_z": 0.7565866465804455,
+            "lift_margin": 0.19209940790730196,
+            "gripper_z": 1.0484906393878441,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28408934112502093,
+              0.3415235585922889,
+              1.0484906393878441
+            ],
+            "object_minus_gripper": [
+              0.005924512063233467,
+              0.005243884300752288,
+              0.00019541509990328443
+            ],
+            "object_to_gripper_xy": 0.007911900261446373,
+            "object_to_gripper_z": 0.00019541509990328443,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2900138531882544,
+              0.32168443351309783,
+              1.0486860544877474
+            ],
+            "finger_b": [
+              0.2776652829390007,
+              0.3467674428930412,
+              1.0486860544877474
+            ],
+            "finger_midpoint": [
+              0.28383956806362753,
+              0.3342259382030695,
+              1.0486860544877474
+            ],
+            "object_minus_finger_midpoint": [
+              0.006174285124626866,
+              0.012541504689971672,
+              0.0
+            ],
+            "finger_gap": 0.02795790669479886,
+            "fingertip_max_gap": 0.09307984486503809,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013978953347399441,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486860544877474,
+            "object_top_z": 1.0949495500955018,
+            "finger_top_clearance": 0.046263495607754335,
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+            "object_projection_between_fingers": 0.8049149222190717,
+            "object_to_finger_line_xy": 0.011078773055943477,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04903992243251905,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.213354232165265,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
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+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
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+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f1457380283499767320240cc7ea0c7b8c3a4da7eeae10fcd8af5797ad80e566",
+    "visual_seed": 1930387368764299362,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      3930001998081723350,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..52ed57a75d0a9f8d4eb08e8c920225778c934fa1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_76_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.352105679935964,
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+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
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+                },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "virtual_attach_allowed": false,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
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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",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008757829666137695,
+            "max_z_decrease": 0.008757829666137695,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500586310863992,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008757829666137695,
+            "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": 0.02087989807633687,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008757829666137695,
+            "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": 0.008757990739688472,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18126922845840449,
+              -0.4438702166080475,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18126922845840449,
+              -0.4438702166080475,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1799144153920767,
+              -0.4437050653702967,
+              0.8034032519442372
+            ],
+            "closest_button": [
+              0.18125380575656885,
+              -0.44381654262542725,
+              0.7684231996536255
+            ],
+            "closest_ee_minus_button": [
+              -0.0013393903644921545,
+              0.00011147725513055429,
+              0.03498005229061174
+            ],
+            "button_min_z_position": [
+              0.1812512427568435,
+              -0.4438202381134033,
+              0.768051028251648
+            ],
+            "min_active_finger_to_button": 0.1469426946744062,
+            "closest_active_finger": [
+              0.05403057485818863,
+              -0.508909285068512,
+              0.8108121156692505
+            ],
+            "closest_active_finger_button": [
+              0.18127031624317164,
+              -0.44387292861938477,
+              0.7765706777572632
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.127239741384983,
+              -0.0650363564491272,
+              0.034241437911987305
+            ],
+            "min_contact_pad_to_button": 0.02087989807633687,
+            "closest_contact_pad": [
+              0.1812512427568435,
+              -0.44464658231723336,
+              0.7889145681942131
+            ],
+            "closest_contact_pad_button": [
+              0.1812512427568435,
+              -0.4438202381134033,
+              0.768051028251648
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008263442038300428,
+              0.02086353994256518
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c9b64cb07e74893bae2efb46f66ce0f457dbaf1f9afb75aa36c8b0c76b38b8cd",
+    "visual_seed": 5540863952709386035,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e9fd510ee4a686fb1cb6e2e239f310e94220082
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_77_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2846873741410873,
+              0.3486615063624918,
+              1.047460750883222
+            ],
+            "current_z": 1.047460750883222,
+            "required_z": 0.8565863881992758,
+            "initial_z": 0.7565863881992758,
+            "lift_margin": 0.1908743626839463,
+            "gripper_z": 1.0472370727927924,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2793350449060359,
+              0.3436550962084662,
+              1.0472370727927924
+            ],
+            "object_minus_gripper": [
+              0.005352329235051412,
+              0.005006410154025642,
+              0.00022367809042966869
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+            "object_to_gripper_xy": 0.007328817835825713,
+            "object_to_gripper_z": 0.00022367809042966869,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2846873741410873,
+              0.32402011978760875,
+              1.047460750883222
+            ],
+            "finger_b": [
+              0.27263238311572724,
+              0.3486615063624918,
+              1.047460750883222
+            ],
+            "finger_midpoint": [
+              0.27865987862840724,
+              0.33634081307505026,
+              1.047460750883222
+            ],
+            "object_minus_finger_midpoint": [
+              0.006027495512680059,
+              0.012320693287441564,
+              0.0
+            ],
+            "finger_gap": 0.027432111492816942,
+            "fingertip_max_gap": 0.09181897190590263,
+            "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": 1.0934889266294041,
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+            "object_projection_between_fingers": 0.8068853113108688,
+            "object_to_finger_line_xy": 0.010828612084433472,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04840948595295132,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6699403331647471,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2850293451857444,
+              0.34720392659696586,
+              1.2350861226526864
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+            "held_position": [
+              0.2907655275802825,
+              0.35177098582038224,
+              1.2352212271768641
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0073334897317753715,
+            "max_held_gripper_dist": 0.007336328623374119,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00013510452417775376,
+            "max_held_gripper_z_dist": 0.0002358227632919263,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08855587833291823,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2907655275802825,
+              0.3260837959766399,
+              1.2352212271768641
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+            "held_grasp_finger_b": [
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+              1.2352212271768641
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+            "held_grasp_midpoint": [
+              0.285728165987061,
+              0.3389273908985111,
+              1.2352212271768641
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+            "held_grasp_object_position": [
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+              0.35177098582038224,
+              1.2352212271768641
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+            "held_grasp_finger_gap": 0.027592241107817106,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02472535671500783,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08568242858144734,
+              -0.9961612625034462,
+              0.017923741794767745
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003925350484723421,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03197431985840661,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+                "beaker_b"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.334625470956618,
+              -0.38877960634110303,
+              0.8470196701733579
+            ],
+            "target_position": [
+              0.326442083568812,
+              -0.3910370501494332,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00848904480413847,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1877922628056277,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196701733579,
+            "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": 0.07552934867468701,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08565518521792147,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15617505146063934,
+            "release_required_pad_clearance": 0.052827592608960736,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6988522695013722,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008941650390625,
+            "max_z_decrease": 0.008941650390625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034966072818939965,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008941650390625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021022966494693485,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008941650390625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008941889994036055,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18214200437068934,
+              -0.44729849696159363,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18214200437068934,
+              -0.44729849696159363,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1806281869537924,
+              -0.4481579430138259,
+              0.8034085301113121
+            ],
+            "closest_button": [
+              0.182183489203453,
+              -0.44729635119438177,
+              0.7684876918792725
+            ],
+            "closest_ee_minus_button": [
+              -0.0015553022496606062,
+              -0.0008615918194441186,
+              0.03492083823203962
+            ],
+            "button_min_z_position": [
+              0.18212567269802088,
+              -0.447235107421875,
+              0.7678672075271606
+            ],
+            "min_active_finger_to_button": 0.14729996826503747,
+            "closest_active_finger": [
+              0.039912641048431396,
+              -0.43099361658096313,
+              0.807404637336731
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+            "closest_active_finger_button": [
+              0.18215160071849817,
+              -0.44730749726295477,
+              0.7727749347686768
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14223895967006678,
+              0.016313880681991633,
+              0.0346297025680542
+            ],
+            "min_contact_pad_to_button": 0.021022966494693485,
+            "closest_contact_pad": [
+              0.18212567269802088,
+              -0.44919655430330296,
+              0.7887984723329086
+            ],
+            "closest_contact_pad_button": [
+              0.18212567269802088,
+              -0.447235107421875,
+              0.7678672075271606
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001961446881427964,
+              0.020931264805747918
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c8023e1846bdc3b418a033707d438c38b464c7379a984daf3202f29491b5d9e",
+    "visual_seed": 5166032106488871531,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..01ed94b42f0bdf4b6883eacbc78f7eed7b4f1994
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_78_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.3486646516915669,
+              1.0489522801385542
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+            "current_z": 1.0489522801385542,
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+            "initial_z": 0.7565866293660469,
+            "lift_margin": 0.19236565077250734,
+            "gripper_z": 1.0494310866848315,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2836513946812871,
+              0.343565454958507,
+              1.0494310866848315
+            ],
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+              0.005829727675529028,
+              0.005099196733059919,
+              -0.00047880654627729946
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+            "object_to_gripper_xy": 0.007745161850683175,
+            "object_to_gripper_z": -0.00047880654627729946,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2894811223568161,
+              0.32352903576236497,
+              1.0489522801385542
+            ],
+            "finger_b": [
+              0.2775021051312835,
+              0.3486646516915669,
+              1.0489522801385542
+            ],
+            "finger_midpoint": [
+              0.2834916137440498,
+              0.3360968437269659,
+              1.0489522801385542
+            ],
+            "object_minus_finger_midpoint": [
+              0.005989508612766314,
+              0.012567807964600997,
+              0.0
+            ],
+            "finger_gap": 0.027844138374709275,
+            "fingertip_max_gap": 0.09070639582743786,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013922069187354662,
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+            "closest_contact_pad": [
+              0.17983935773372653,
+              -0.447363555431366,
+              0.7888666947628608
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+              0.17983935773372653,
+              -0.447363555431366,
+              0.7679676413536072
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020899053409253576
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6c2511f0e902908c9eca6b7626c955f58c4f03f2fe51ce933d6b26b86abdd4e4",
+    "visual_seed": 8174706650435347373,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..79525b24a3fc68510b6c50411b03979341c1ba62
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_79_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.3516200505283027,
+              1.0500591647745918
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+              0.28391103192940154,
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+              1.0498576243822493
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+              0.005027949598589321,
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+            "object_to_gripper_z": 0.0002015403923425474,
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+              0.3267868969274179,
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+              0.3516200505283027,
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+              0.3392034737278603,
+              1.0500591647745918
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+              0.012416576800442392,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048073065730468476,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
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+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.00011694911599535729,
+            "max_held_gripper_z_dist": 0.00021213729133240378,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08859199692152608,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_line_xy_max_dist": 0.04748290345072746,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
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+            "target_position": [
+              0.3210003600447829,
+              -0.3881166574478511,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009806274936553758,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18934591291586425,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195754911454,
+            "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": 0.07547369822648897,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853629371914899,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1580408467670813,
+            "release_required_pad_clearance": 0.05268146859574495,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.41871333137693645,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008939921855926514,
+            "max_z_decrease": 0.008939921855926514,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499434970290913,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008939921855926514,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020894138203225172,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008939921855926514,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00894019308544309,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17670027911663053,
+              -0.44437810778617864,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17670027911663053,
+              -0.44437810778617864,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1757700819272714,
+              -0.4448645514526296,
+              0.802845705581245
+            ],
+            "closest_button": [
+              0.17673502862453458,
+              -0.4443177580833435,
+              0.7678689360618591
+            ],
+            "closest_ee_minus_button": [
+              -0.0009649466972631859,
+              -0.0005467933692860916,
+              0.034976769519385886
+            ],
+            "button_min_z_position": [
+              0.17673502862453458,
+              -0.4443177580833435,
+              0.7678689360618591
+            ],
+            "min_active_finger_to_button": 0.14658149007942767,
+            "closest_active_finger": [
+              0.0348215252161026,
+              -0.4309089481830597,
+              0.8103929162025452
+            ],
+            "closest_active_finger_button": [
+              0.1767003238201141,
+              -0.44438049197196966,
+              0.7761138081550598
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1418787986040115,
+              0.013471543788909968,
+              0.03427910804748535
+            ],
+            "min_contact_pad_to_button": 0.020894138203225172,
+            "closest_contact_pad": [
+              0.17673502862453458,
+              -0.445847777117312,
+              0.7887069794683589
+            ],
+            "closest_contact_pad_button": [
+              0.17673502862453458,
+              -0.4443177580833435,
+              0.7678689360618591
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015300190339684883,
+              0.02083804340649975
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "242ad5387d7e8f913d3f41d9ae995b402df0ec1a4ddada952614b28fd56a672d",
+    "visual_seed": 3034558367945706481,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..69d57056e833e6136b0200b0cf9cde42406f2a77
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_7_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28427990574451845,
+              0.35362339616814537,
+              1.0474814638973315
+            ],
+            "current_z": 1.0474814638973315,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19089507569805553,
+            "gripper_z": 1.0472556831058097,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2787510420313585,
+              0.34858574739132336,
+              1.0472556831058097
+            ],
+            "object_minus_gripper": [
+              0.0055288637131599705,
+              0.005037648776822001,
+              0.0002257807915218013
+            ],
+            "object_to_gripper_xy": 0.007479721863633251,
+            "object_to_gripper_z": 0.0002257807915218013,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28427990574451845,
+              0.3287786929667247,
+              1.0474814638973315
+            ],
+            "finger_b": [
+              0.272286493828321,
+              0.35362339616814537,
+              1.0474814638973315
+            ],
+            "finger_midpoint": [
+              0.2782831997864197,
+              0.34120104456743505,
+              1.0474814638973315
+            ],
+            "object_minus_finger_midpoint": [
+              0.005996705958098758,
+              0.012422351600710313,
+              0.0
+            ],
+            "finger_gap": 0.027588062754718215,
+            "fingertip_max_gap": 0.09112257262218235,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013794031377359094,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474814638973315,
+            "object_top_z": 1.093137971219752,
+            "finger_top_clearance": 0.045656507322420437,
+            "fingertip_min_top_clearance": 0.01369695219672613,
+            "object_projection_between_fingers": 0.811008144314938,
+            "object_to_finger_line_xy": 0.01080078590800463,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048061286311091175,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.31040375560604716,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b0f83fb86d09ecc7429c94403e493b10c80eff4e3eef18cd813f693c7d33e3c5",
+    "visual_seed": 1872521641105660021,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8620abaed84e4c6872124bed0718126534d09b75
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_80_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.352246202744941,
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+              1.049771142098105
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+              0.005240696850421556,
+              4.534710370540651e-05
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+            "object_to_gripper_z": 4.534710370540651e-05,
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+              0.32713509315229744,
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+              1.0498164892018105
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+              0.33969064794861925,
+              1.0498164892018105
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+              0.012555554796321755,
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+              0.0,
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+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
+            },
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+          }
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+      },
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              1.2407519176996002
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+              0.35618902320108947,
+              1.240738976249686
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 1.2941449914150027e-05,
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+              0.3432499179725911,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_line_xy_max_dist": 0.04748295187950134,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15944068328095798,
+            "release_required_pad_clearance": 0.052946329598434885,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.9287196309714867,
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+            "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",
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+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008914291858673096,
+            "max_z_decrease": 0.008914291858673096,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503119382628635,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008914291858673096,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020886384022734572,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008914291858673096,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008914554263684689,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17826947569847104,
+              -0.4439855217933655,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17826947569847104,
+              -0.4439855217933655,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1776429503251466,
+              -0.4420687372947881,
+              0.8028695005223924
+            ],
+            "closest_button": [
+              0.1783162355422973,
+              -0.44393560290336603,
+              0.7678945660591125
+            ],
+            "closest_ee_minus_button": [
+              -0.0006732852171507098,
+              0.0018668656085779056,
+              0.034974934463279816
+            ],
+            "button_min_z_position": [
+              0.1783162355422973,
+              -0.44393560290336603,
+              0.7678945660591125
+            ],
+            "min_active_finger_to_button": 0.14559440628054618,
+            "closest_active_finger": [
+              0.05077469348907471,
+              -0.5053176283836365,
+              0.8111398220062256
+            ],
+            "closest_active_finger_button": [
+              0.17827567458152765,
+              -0.4439867734909057,
+              0.7767922282218933
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12750098109245295,
+              -0.06133085489273077,
+              0.034347593784332275
+            ],
+            "min_contact_pad_to_button": 0.020886384022734572,
+            "closest_contact_pad": [
+              0.1783162355422973,
+              -0.44393560290336603,
+              0.7887809500818471
+            ],
+            "closest_contact_pad_button": [
+              0.1783162355422973,
+              -0.44393560290336603,
+              0.7678945660591125
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020886384022734572
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0e036239b30a012fc030a34f2f6e08edee171399291c79206c62ccd077a8607c",
+    "visual_seed": 6511192600468550941,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd3e9b812397f4b851bea387d77b8c115ac32e08
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_81_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2904734292987128,
+              0.3463984295593706,
+              1.0477088853246106
+            ],
+            "current_z": 1.0477088853246106,
+            "required_z": 0.856586634951876,
+            "initial_z": 0.7565866349518761,
+            "lift_margin": 0.19112225037273456,
+            "gripper_z": 1.048233955551012,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2846416676957592,
+              0.34129455080430793,
+              1.048233955551012
+            ],
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+              0.005831761602953567,
+              0.005103878755062685,
+              -0.0005250702264014695
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+            "object_to_gripper_xy": 0.007749775592884208,
+            "object_to_gripper_z": -0.0005250702264014695,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2904734292987128,
+              0.32126096386217246,
+              1.0477088853246106
+            ],
+            "finger_b": [
+              0.27848840488914073,
+              0.3463984295593706,
+              1.0477088853246106
+            ],
+            "finger_midpoint": [
+              0.28448091709392676,
+              0.33382969671077156,
+              1.0477088853246106
+            ],
+            "object_minus_finger_midpoint": [
+              0.005992512204786027,
+              0.012568732848599051,
+              0.0
+            ],
+            "finger_gap": 0.027848392983722634,
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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": 1.0930630821902403,
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+            "object_projection_between_fingers": 0.8147843977996055,
+            "object_to_finger_line_xy": 0.01081833124632338,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047853992432628126,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5407850302594187,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29014927942953644,
+              0.34542123193310337,
+              1.2377868299882617
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+            "held_position": [
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+              0.35020961933864153,
+              1.2371972181339195
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007767500317061639,
+            "max_held_gripper_dist": 0.007772281670746667,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0005896118543422535,
+            "max_held_gripper_z_dist": 0.0007765334063387641,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08886451989505428,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.32443169873588085,
+              1.2371972181339195
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+              0.29089120735629503,
+              0.33732065903726116,
+              1.2371972181339195
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+            "held_grasp_object_position": [
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+              0.35020961933864153,
+              1.2371972181339195
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+            "held_grasp_finger_gap": 0.027907026643249976,
+            "held_grasp_max_gap": 0.12496564298868179,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025293266944884832,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04307372556421948,
+              -0.9990633271325435,
+              0.004137939689139114
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004785746727942478,
+            "held_grasp_line_xy_max_dist": 0.047482821494340896,
+            "held_grasp_object_top_z": 0.045200519263744354,
+            "held_grasp_top_clearance": 0.03209337761223414,
+            "held_grasp_min_top_clearance": 0.013560155779123307
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32964371009257615,
+              -0.3902672607913316,
+              0.8470200187788733
+            ],
+            "target_position": [
+              0.3211576304832264,
+              -0.3927312691187099,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008836565179616548,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1866369191211726,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470200187788733,
+            "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": 0.07513769101117687,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0861448306245771,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1561631514630615,
+            "release_required_pad_clearance": 0.053072415312288554,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1716799772634003,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008785903453826904,
+            "max_z_decrease": 0.008785903453826904,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03491977337628534,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008785903453826904,
+            "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": 0.020863462767423888,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008785903453826904,
+            "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": 0.008786019795851746,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17685756087303156,
+              -0.4489927291870117,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17685756087303156,
+              -0.4489927291870117,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17566923167295492,
+              -0.4477651534710233,
+              0.8031461147699788
+            ],
+            "closest_button": [
+              0.17689701914787287,
+              -0.44897764921188354,
+              0.7682690024375916
+            ],
+            "closest_ee_minus_button": [
+              -0.0012277874749179463,
+              0.0012124957408602421,
+              0.03487711233238722
+            ],
+            "button_min_z_position": [
+              0.1768271923065185,
+              -0.44895923137664795,
+              0.7680229544639587
+            ],
+            "min_active_finger_to_button": 0.1464489760667661,
+            "closest_active_finger": [
+              0.047846704721450806,
+              -0.5091033577919006,
+              0.8103988766670227
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+            "closest_active_finger_button": [
+              0.17686201632022852,
+              -0.44899657368659973,
+              0.7759093642234802
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12901531159877772,
+              -0.0601067841053009,
+              0.03448951244354248
+            ],
+            "min_contact_pad_to_button": 0.020863462767423888,
+            "closest_contact_pad": [
+              0.17689701914787287,
+              -0.4491008894088786,
+              0.7891321012127382
+            ],
+            "closest_contact_pad_button": [
+              0.17689701914787287,
+              -0.44897764921188354,
+              0.7682690024375916
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00012324019699505584,
+              0.020863098775146693
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d37d6f6ea6a6b468a538bbe8bfdb21c6085107f334603fec7907053a9ef8f230",
+    "visual_seed": 3976787719119683020,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdef5d9a670263d73f7c88b33bc6ac7022b42226
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.3515893224960404,
+              1.0507168730482668
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+            "lift_margin": 0.19413024643041166,
+            "gripper_z": 1.050359934159187,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2843742001602041,
+              0.34659055434384733,
+              1.050359934159187
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+              0.005280023136010392,
+              0.004998768152193078,
+              0.0003569388890798386
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+            "object_to_gripper_xy": 0.007270923418396374,
+            "object_to_gripper_z": 0.0003569388890798386,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2896542232962145,
+              0.3271028643524792,
+              1.0507168730482668
+            ],
+            "finger_b": [
+              0.27745686875295505,
+              0.3515893224960404,
+              1.0507168730482668
+            ],
+            "finger_midpoint": [
+              0.28355554602458477,
+              0.3393460934242598,
+              1.0507168730482668
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060986772716297155,
+              0.012243229071780604,
+              0.0
+            ],
+            "finger_gap": 0.02735620752718378,
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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": 1.0507168730482668,
+            "object_top_z": 1.0971703238946315,
+            "finger_top_clearance": 0.04645345084636476,
+            "fingertip_min_top_clearance": 0.01393603525390943,
+            "object_projection_between_fingers": 0.8011985644539714,
+            "object_to_finger_line_xy": 0.010917814948907336,
+            "fingertip_xy_max_dist": 0.055,
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+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bfe0b1d6f847a400e61cc6f244bcd73d1f40e43a7315fb128ecf9b9d84e6deaf",
+    "visual_seed": 4298692598606185265,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e649c97c504282500c13aaf5b791eb22a1c3098
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_83_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
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+            "active_arm": null,
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+              0.3449389562488784,
+              1.0487065678705152
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+            "lift_margin": 0.19212000616911484,
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+              0.2844423021061527,
+              0.33964099130122083,
+              1.0487041460796336
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+              0.005297964947657552,
+              2.421790881612651e-06
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+            "object_to_gripper_z": 2.421790881612651e-06,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31974778738570436,
+              1.0487065678705152
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+              1.0487065678705152
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+              0.33234337181729134,
+              1.0487065678705152
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+              0.012595584431587037,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+          }
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 6.345858771905633e-05,
+            "max_held_gripper_z_dist": 0.0002580480801241958,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.3490671110951639,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025454407823737236,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "heater_platform",
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757849274128794,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08648423763025496,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15298007687273119,
+            "release_required_pad_clearance": 0.053242118815127484,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5050296813113635,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008941173553466797,
+            "max_z_decrease": 0.008941173553466797,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03497260846037825,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008941173553466797,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02078023505968906,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008941173553466797,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00894165210963811,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1758030951023101,
+              -0.4468553364276886,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1758030951023101,
+              -0.4468553364276886,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17399826557050949,
+              -0.44607316812413983,
+              0.8033463127739057
+            ],
+            "closest_button": [
+              0.1758930385112762,
+              -0.4468272626399994,
+              0.7684332132339478
+            ],
+            "closest_ee_minus_button": [
+              -0.0018947729407667036,
+              0.0007540945158595602,
+              0.034913099539957915
+            ],
+            "button_min_z_position": [
+              0.17587807774543757,
+              -0.44680115580558777,
+              0.7678676843643188
+            ],
+            "min_active_finger_to_button": 0.1470553085258468,
+            "closest_active_finger": [
+              0.04799512028694153,
+              -0.511057436466217,
+              0.8108963966369629
+            ],
+            "closest_active_finger_button": [
+              0.17580784857273096,
+              -0.4468582272529602,
+              0.7767257690429688
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12781272828578943,
+              -0.06419920921325684,
+              0.03417062759399414
+            ],
+            "min_contact_pad_to_button": 0.02078023505968906,
+            "closest_contact_pad": [
+              0.17587807774543757,
+              -0.4469260362089941,
+              0.7886475441814778
+            ],
+            "closest_contact_pad_button": [
+              0.17587807774543757,
+              -0.44680115580558777,
+              0.7678676843643188
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00012488040340635775,
+              0.020779859817158908
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5c7bccb6dd01067cdf132831c0f18f0544f1b6fccb98344f987432cc546d323",
+    "visual_seed": 8784884624400882707,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1798fe3f7c29886243725afef0f6c99e8c0b8da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_84_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2884459922620347,
+              0.34463781263786797,
+              1.0488874184931165
+            ],
+            "current_z": 1.0488874184931165,
+            "required_z": 0.8565866745272778,
+            "initial_z": 0.7565866745272778,
+            "lift_margin": 0.19230074396583874,
+            "gripper_z": 1.0488494661014098,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2827808860192541,
+              0.33943955955662214,
+              1.0488494661014098
+            ],
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+              0.005665106242780604,
+              0.005198253081245829,
+              3.795239170667486e-05
+            ],
+            "object_to_gripper_xy": 0.007688645123731068,
+            "object_to_gripper_z": 3.795239170667486e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2884459922620347,
+              0.31983731127526255,
+              1.0488874184931165
+            ],
+            "finger_b": [
+              0.27603895098614534,
+              0.34463781263786797,
+              1.0488874184931165
+            ],
+            "finger_midpoint": [
+              0.28224247162409,
+              0.3322375619565653,
+              1.0488874184931165
+            ],
+            "object_minus_finger_midpoint": [
+              0.006203520637944715,
+              0.012400250681302682,
+              0.0
+            ],
+            "finger_gap": 0.027730840972790854,
+            "fingertip_max_gap": 0.0908975303845189,
+            "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": 1.0488874184931165,
+            "object_top_z": 1.0945283904950172,
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+            "fingertip_min_top_clearance": 0.013692291600570228,
+            "object_projection_between_fingers": 0.7998247528083124,
+            "object_to_finger_line_xy": 0.011095979540271009,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04794876519225945,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2640154704058901,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
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+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9570321c5c221570c8bbfd201c79e1ab4d7658b1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_85_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.3490682540194517,
+              1.0501191707181
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+              0.34384677838545136,
+              1.049988818976679
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+              0.005221475634000328,
+              0.00013035174142084216
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+            "object_to_gripper_z": 0.00013035174142084216,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3239543423936357,
+              1.0501191707181
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+              1.0501191707181
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+              0.3365112982065437,
+              1.0501191707181
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+              0.012556955812908,
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+            ],
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
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+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3476465143365934,
+              1.24165851709849
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+              0.35247797769383654,
+              1.2417316537461385
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 7.313664764851957e-05,
+            "max_held_gripper_z_dist": 0.0001640103967224249,
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+            "held_object_xy_range": 0.08868580291973688,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.32655956604900904,
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+              0.33951877187142276,
+              1.2417316537461385
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+              0.35247797769383654,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              0.013762368214601303
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+            "held_grasp_min_top_clearance": 0.013560188189148902
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
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+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15480850459477757,
+            "release_required_pad_clearance": 0.053668641273681414,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 2.3433913225666303,
+            "object_max_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",
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+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00872659683227539,
+            "max_z_decrease": 0.00872659683227539,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500948642094702,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00872659683227539,
+            "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": 0.02088273775004701,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00872659683227539,
+            "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": 0.008726851534366843,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1769048422574997,
+              -0.44805818796157837,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1769048422574997,
+              -0.44805818796157837,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1752550233786469,
+              -0.44651963693535296,
+              0.8034824604212605
+            ],
+            "closest_button": [
+              0.17696185410022736,
+              -0.44803544878959656,
+              0.7685474753379822
+            ],
+            "closest_ee_minus_button": [
+              -0.0017068307215804546,
+              0.0015158118542435983,
+              0.0349349850832783
+            ],
+            "button_min_z_position": [
+              0.17696212232112885,
+              -0.44802406430244446,
+              0.7680822610855103
+            ],
+            "min_active_finger_to_button": 0.1466508794036957,
+            "closest_active_finger": [
+              0.04805632680654526,
+              -0.5090925693511963,
+              0.810906171798706
+            ],
+            "closest_active_finger_button": [
+              0.17690764367580417,
+              -0.44806137681007385,
+              0.7765694260597229
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1288513168692589,
+              -0.061031192541122437,
+              0.034336745738983154
+            ],
+            "min_contact_pad_to_button": 0.02088273775004701,
+            "closest_contact_pad": [
+              0.17696212232112885,
+              -0.44802406430244446,
+              0.7889649988355573
+            ],
+            "closest_contact_pad_button": [
+              0.17696212232112885,
+              -0.44802406430244446,
+              0.7680822610855103
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02088273775004701
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3e927a8181e9665ac2293068cec99c0084b2095986326549f982559eba4402ea",
+    "visual_seed": 560856447122550547,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9af756191dac95e9a5cb3fc259a887dd0cd31af7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_86_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2889054221755572,
+              0.3525019240516699,
+              1.0494740557124447
+            ],
+            "current_z": 1.0494740557124447,
+            "required_z": 0.8565866134937938,
+            "initial_z": 0.7565866134937939,
+            "lift_margin": 0.19288744221865084,
+            "gripper_z": 1.049374759895922,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2835418535104998,
+              0.34752623165763585,
+              1.049374759895922
+            ],
+            "object_minus_gripper": [
+              0.005363568665057383,
+              0.004975692394034059,
+              9.929581652268205e-05
+            ],
+            "object_to_gripper_xy": 0.007316104402264489,
+            "object_to_gripper_z": 9.929581652268205e-05,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2889054221755572,
+              0.32782223615990747,
+              1.0494740557124447
+            ],
+            "finger_b": [
+              0.2769349004922763,
+              0.3525019240516699,
+              1.0494740557124447
+            ],
+            "finger_midpoint": [
+              0.28292016133391673,
+              0.3401620801057887,
+              1.0494740557124447
+            ],
+            "object_minus_finger_midpoint": [
+              0.005985260841640472,
+              0.012339843945881224,
+              0.0
+            ],
+            "finger_gap": 0.02742955310982488,
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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": 0.014110203891336225,
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+            "object_to_finger_line_xy": 0.010770453964819748,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049192758810332984,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2056373814434542,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2891413209883469,
+              0.35153433948333546,
+              1.2412506503364913
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+            "held_position": [
+              0.29484342258780966,
+              0.35611767628839225,
+              1.241308552141807
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007316029766085082,
+            "max_held_gripper_dist": 0.007321572574921477,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 5.790180531572986e-05,
+            "max_held_gripper_z_dist": 0.00014242327759839135,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08872597790695214,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.29484342258780966,
+              0.33048288050989816,
+              1.241308552141807
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+              0.35611767628839225,
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+              0.2897044427458949,
+              0.34330027839914523,
+              1.241308552141807
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+            "held_grasp_object_position": [
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+              0.35611767628839225,
+              1.241308552141807
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+            "held_grasp_finger_gap": 0.02761845777496495,
+            "held_grasp_max_gap": 0.12496582180261612,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024826858152257755,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07137963309284479,
+              -0.9971015710168493,
+              0.026332585426840797
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004224861688722214,
+            "held_grasp_line_xy_max_dist": 0.04748291090130806,
+            "held_grasp_object_top_z": 0.04520067572593689,
+            "held_grasp_top_clearance": 0.032053609658633214,
+            "held_grasp_min_top_clearance": 0.013560202717781066
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3263367240482464,
+              -0.386296961559473,
+              0.8470195876658351
+            ],
+            "target_position": [
+              0.3194418668428542,
+              -0.38797073687726197,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007095109562028479,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18788070601331708,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195876658351,
+            "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": 0.07531776314308262,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863255373406958,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15669837672489836,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3486931890371066,
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+            "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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008795559406280518,
+            "max_z_decrease": 0.008795559406280518,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502988947428194,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008795559406280518,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020848534658487017,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008795559406280518,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008795823751737694,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17514179646968844,
+              -0.44423219561576843,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17514179646968844,
+              -0.44423219561576843,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1742722082176116,
+              -0.4425158325464958,
+              0.8029910903178993
+            ],
+            "closest_button": [
+              0.17519405484199527,
+              -0.4441883862018585,
+              0.7680132985115051
+            ],
+            "closest_ee_minus_button": [
+              -0.0009218466243836598,
+              0.0016725536553627296,
+              0.034977791806394154
+            ],
+            "button_min_z_position": [
+              0.17519405484199527,
+              -0.4441883862018585,
+              0.7680132985115051
+            ],
+            "min_active_finger_to_button": 0.14582182084068784,
+            "closest_active_finger": [
+              0.047930024564266205,
+              -0.5067658424377441,
+              0.8104878664016724
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+              0.1751429289579392,
+              -0.4442338943481446,
+              0.7762733101844788
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.127212904393673,
+              -0.06253194808959955,
+              0.034214556217193604
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+            "min_contact_pad_to_button": 0.020848534658487017,
+            "closest_contact_pad": [
+              0.17519405484199527,
+              -0.4441883862018585,
+              0.7888618331699921
+            ],
+            "closest_contact_pad_button": [
+              0.17519405484199527,
+              -0.4441883862018585,
+              0.7680132985115051
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020848534658487017
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "73e8c7dd84bf02bd61b8a253a03723755fecb5221a96d9aa460d562a47f15728",
+    "visual_seed": 6570995321821302882,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd1135f57f0c5a985b231862289775a16d7a736a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_87_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.3510009361049281,
+              1.0485209503475257
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+            "gripper_z": 1.0482949137487683,
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+            "gripper_position": [
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+              0.34584036217586656,
+              1.0482949137487683
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+              0.005884828046826662,
+              0.0051605739290615515,
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+            "object_to_gripper_z": 0.00022603659875741755,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.28606381028426087,
+              0.32587254113007713,
+              1.0485209503475257
+            ],
+            "finger_b": [
+              0.2739347176455877,
+              0.3510009361049281,
+              1.0485209503475257
+            ],
+            "finger_midpoint": [
+              0.27999926396492425,
+              0.3384367386175026,
+              1.0485209503475257
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+            "object_minus_finger_midpoint": [
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+              0.012564197487425488,
+              0.0
+            ],
+            "finger_gap": 0.02790252895795705,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8110401693180713,
+            "object_to_finger_line_xy": 0.010923190187182687,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049553056883787264,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4240614694594291,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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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": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "50726a73bfadf867fc2d9f0f91da93ccbecf4a9f7424ed9beca80615fad4c8d7",
+    "visual_seed": 4026092793015541736,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddf7293c2e9ca503a524f109963e9275adf8f0c6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_88_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.34436512124374075,
+              1.0477723794588474
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+            "lift_margin": 0.1911859316549266,
+            "gripper_z": 1.0475391891381012,
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+            "gripper_position": [
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+              0.3392944987067632,
+              1.0475391891381012
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+              0.005070622536977543,
+              0.0002331903207462016
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+            "fingertip_source": "active_contact_pad_positions",
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+              0.3199046284296184,
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+              0.3321348748366796,
+              1.0477723794588474
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+              0.012230246407061163,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.34714805664382276,
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+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.00016763402241282144,
+            "max_held_gripper_z_dist": 0.00025593138522728154,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.0037003704196012033,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "min_z_margin": 0.2,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.086589591911567,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1564660711582533,
+            "release_required_pad_clearance": 0.0532947959557835,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.606650706420304,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008771061897277832,
+            "max_z_decrease": 0.008771061897277832,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501287449447824,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008771061897277832,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020854651417353987,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008771061897277832,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008771270448525657,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1741930246353149,
+              -0.442889928817749,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1741930246353149,
+              -0.442889928817749,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17345519810232438,
+              -0.4415752874626765,
+              0.8030187011037806
+            ],
+            "closest_button": [
+              0.17423829436302185,
+              -0.4428498148918152,
+              0.7680377960205078
+            ],
+            "closest_ee_minus_button": [
+              -0.0007830962606974745,
+              0.0012745274291386943,
+              0.034980905083272784
+            ],
+            "button_min_z_position": [
+              0.17423829436302185,
+              -0.4428498148918152,
+              0.7680377960205078
+            ],
+            "min_active_finger_to_button": 0.14587356606543028,
+            "closest_active_finger": [
+              0.0470668226480484,
+              -0.5057159662246704,
+              0.8105032444000244
+            ],
+            "closest_active_finger_button": [
+              0.17419430613517758,
+              -0.44289195537567133,
+              0.7762856483459473
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12712748348712918,
+              -0.06282401084899908,
+              0.03421759605407715
+            ],
+            "min_contact_pad_to_button": 0.020854651417353987,
+            "closest_contact_pad": [
+              0.17423829436302185,
+              -0.4428498148918152,
+              0.7888924474378618
+            ],
+            "closest_contact_pad_button": [
+              0.17423829436302185,
+              -0.4428498148918152,
+              0.7680377960205078
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020854651417353987
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4d24eee3d59208d358ed84316b20cacc26c008fd9c22a6aed617887cc91a9b63",
+    "visual_seed": 422745925383342806,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5eeb59c715244c5c896bff157c886f8dfd793f28
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_89_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.288276240532873,
+              0.3456460242185923,
+              1.0489837710956313
+            ],
+            "current_z": 1.0489837710956313,
+            "required_z": 0.8565865531174401,
+            "initial_z": 0.7565865531174402,
+            "lift_margin": 0.1923972179781912,
+            "gripper_z": 1.0487722433495184,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2823857374535488,
+              0.3404039672458755,
+              1.0487722433495184
+            ],
+            "object_minus_gripper": [
+              0.005890503079324205,
+              0.005242056972716791,
+              0.00021152774611299385
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+            "object_to_gripper_xy": 0.007885251285326085,
+            "object_to_gripper_z": 0.00021152774611299385,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.288276240532873,
+              0.32057243465392354,
+              1.0489837710956313
+            ],
+            "finger_b": [
+              0.2759486107988287,
+              0.3456460242185923,
+              1.0489837710956313
+            ],
+            "finger_midpoint": [
+              0.2821124256658508,
+              0.3331092294362579,
+              1.0489837710956313
+            ],
+            "object_minus_finger_midpoint": [
+              0.006163814867022166,
+              0.012536794782334382,
+              0.0
+            ],
+            "finger_gap": 0.027940210244684252,
+            "fingertip_max_gap": 0.09217319700064516,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013970105122342138,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489837710956313,
+            "object_top_z": 1.0948929164083916,
+            "finger_top_clearance": 0.04590914531276025,
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+            "object_projection_between_fingers": 0.8053296436790477,
+            "object_to_finger_line_xy": 0.011062834729936933,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048586598500322584,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8083723646485633,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_grasp_object_projection_between_fingers": 0.5,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.33393054673133543,
+              -0.3868165008169104,
+              0.8470193924593798
+            ],
+            "target_position": [
+              0.3259211642277167,
+              -0.38932570764769847,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008393231023208355,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18789642422302932,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193924593798,
+            "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": 0.07560967762342995,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0869026411193,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15607843009321265,
+            "release_required_pad_clearance": 0.053451320559650004,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9159499418717367,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008920729160308838,
+            "max_z_decrease": 0.008920729160308838,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503969434287181,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008920729160308838,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021050510915177238,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008920729160308838,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008921134758027603,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18162108957767484,
+              -0.44558715820312506,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18162108957767484,
+              -0.44558715820312506,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18039988924669165,
+              -0.44719078666042644,
+              0.8037068436060396
+            ],
+            "closest_button": [
+              0.1815877854824066,
+              -0.4455247223377228,
+              0.7687269449234009
+            ],
+            "closest_ee_minus_button": [
+              -0.0011878962357149414,
+              -0.0016660643227036642,
+              0.03497989868263873
+            ],
+            "button_min_z_position": [
+              0.1815787106752395,
+              -0.44551339745521545,
+              0.7678881287574768
+            ],
+            "min_active_finger_to_button": 0.14679232147426646,
+            "closest_active_finger": [
+              0.039508573710918427,
+              -0.43259894847869873,
+              0.810754656791687
+            ],
+            "closest_active_finger_button": [
+              0.18162299692630768,
+              -0.44559022784233093,
+              0.7763642072677612
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14211442321538925,
+              0.012991279363632202,
+              0.03439044952392578
+            ],
+            "min_contact_pad_to_button": 0.021050510915177238,
+            "closest_contact_pad": [
+              0.1815787106752395,
+              -0.4481763555757551,
+              0.7887695239177205
+            ],
+            "closest_contact_pad_button": [
+              0.1815787106752395,
+              -0.44551339745521545,
+              0.7678881287574768
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002662958120539627,
+              0.020881395160243676
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5346a82c2b7013e942acac7a59160792b277f6044c2bdd7e2b0d4e3544d1b64f",
+    "visual_seed": 5361271325109923492,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d46d17bfed8a8064659cda8bfac6a6ed6fe71673
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_8_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              1.0
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+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_object_paths": [
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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": [],
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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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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3515754055331082,
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+              0.35639708181114516,
+              1.2399311105507305
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "heater_platform",
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+            "release_min_pad_clearance": 0.15496115729827004,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.34034837789328165,
+            "object_max_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",
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+            "source_missing": false,
+            "forbidden": [],
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+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008806884288787842,
+            "max_z_decrease": 0.008806884288787842,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506698727646014,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008806884288787842,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02128907357719941,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008806884288787842,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00880713054390096,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17938564717769623,
+              -0.44307878613471985,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17938564717769623,
+              -0.44307878613471985,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18087645532887262,
+              -0.44470061078599205,
+              0.802995984799753
+            ],
+            "closest_button": [
+              0.17936933040618894,
+              -0.4430149793624878,
+              0.7680019736289978
+            ],
+            "closest_ee_minus_button": [
+              0.001507124922683678,
+              -0.0016856314235042524,
+              0.03499401117075518
+            ],
+            "button_min_z_position": [
+              0.17936933040618894,
+              -0.4430149793624878,
+              0.7680019736289978
+            ],
+            "min_active_finger_to_button": 0.1442583289095836,
+            "closest_active_finger": [
+              0.040351852774620056,
+              -0.4266775846481323,
+              0.8076972365379333
+            ],
+            "closest_active_finger_button": [
+              0.17939746379852295,
+              -0.44308304786682134,
+              0.7729460597038269
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1390456110239029,
+              0.01640546321868902,
+              0.034751176834106445
+            ],
+            "min_contact_pad_to_button": 0.02128907357719941,
+            "closest_contact_pad": [
+              0.17936933040618894,
+              -0.4460525062846625,
+              0.7890732356693331
+            ],
+            "closest_contact_pad_button": [
+              0.17936933040618894,
+              -0.4430149793624878,
+              0.7680019736289978
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030375269221746826,
+              0.02107126204033527
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eba968cf9d527421b2442d4d3885105f579755e986705f9f0c0aee71834e9f51",
+    "visual_seed": 3806799702722033163,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c511d8ac9286b8279934a6a25273c47b463dda7c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_90_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2867158779640745,
+              0.3536590361305543,
+              1.0484913795749777
+            ],
+            "current_z": 1.0484913795749777,
+            "required_z": 0.8565866156268441,
+            "initial_z": 0.7565866156268442,
+            "lift_margin": 0.1919047639481336,
+            "gripper_z": 1.0480665619983613,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2812272107977049,
+              0.34855826257266925,
+              1.0480665619983613
+            ],
+            "object_minus_gripper": [
+              0.005488667166369587,
+              0.005100773557885074,
+              0.0004248175766163875
+            ],
+            "object_to_gripper_xy": 0.007492887170644112,
+            "object_to_gripper_z": 0.0004248175766163875,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2867158779640745,
+              0.3289677206110184,
+              1.0484913795749777
+            ],
+            "finger_b": [
+              0.2744660845486697,
+              0.3536590361305543,
+              1.0484913795749777
+            ],
+            "finger_midpoint": [
+              0.2805909812563721,
+              0.34131337837078635,
+              1.0484913795749777
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061248967077023875,
+              0.01234565775976798,
+              0.0
+            ],
+            "finger_gap": 0.02756299150682612,
+            "fingertip_max_gap": 0.09118437050256814,
+            "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": 1.0484913795749777,
+            "object_top_z": 1.0941534806376432,
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+            "object_projection_between_fingers": 0.8024828425778495,
+            "object_to_finger_line_xy": 0.010973537258972266,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04809218525128407,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4513135665369103,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28687547830309895,
+              0.35260718318511564,
+              1.2361828425963766
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+            "held_position": [
+              0.2927508848539808,
+              0.35726398755489375,
+              1.236514057261195
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007504394194784871,
+            "max_held_gripper_dist": 0.007505667969078211,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00033121466481844664,
+            "max_held_gripper_z_dist": 0.0004357751229397966,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08859953101672752,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2927508848539808,
+              0.3315431648334015,
+              1.236514057261195
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+            "held_grasp_finger_b": [
+              0.28245729486405846,
+              0.35726398755489375,
+              1.236514057261195
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+            "held_grasp_midpoint": [
+              0.28760408985901964,
+              0.34440357619414763,
+              1.236514057261195
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+            "held_grasp_object_position": [
+              0.2927508848539808,
+              0.35726398755489375,
+              1.236514057261195
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+            "held_grasp_finger_gap": 0.027704128146380295,
+            "held_grasp_max_gap": 0.12496554613113403,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024756961818596292,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08448953127433695,
+              -0.9963391408378818,
+              0.013032096511093934
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004045412952949926,
+            "held_grasp_line_xy_max_dist": 0.047482773065567016,
+            "held_grasp_object_top_z": 0.04520052298903465,
+            "held_grasp_top_clearance": 0.031952341486357755,
+            "held_grasp_min_top_clearance": 0.013560156896710395
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.33126602060531407,
+              -0.3890365197011111,
+              0.847019481680488
+            ],
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+              0.3236488579493954,
+              -0.39116241427296033,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007908261165220833,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1857192780423794,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019481680488,
+            "min_z": 0.5730800627579278,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579282537194514,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498435588812618,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1535773864632446,
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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": 0.055940889632931916,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008924901485443115,
+            "max_z_decrease": 0.008924901485443115,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500367067016195,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008924901485443115,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02103462188419324,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008924901485443115,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008925452835572062,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1793487817049026,
+              -0.44742387533187866,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1793487817049026,
+              -0.44742387533187866,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1794017836051236,
+              -0.4483088632496076,
+              0.8037115770611022
+            ],
+            "closest_button": [
+              0.17930528521537778,
+              -0.44735479354858393,
+              0.7687210440635681
+            ],
+            "closest_ee_minus_button": [
+              9.649838974581937e-05,
+              -0.0009540697010236854,
+              0.034990532997534074
+            ],
+            "button_min_z_position": [
+              0.17929261922836298,
+              -0.44734209775924677,
+              0.7678839564323425
+            ],
+            "min_active_finger_to_button": 0.1456284142649532,
+            "closest_active_finger": [
+              0.038701340556144714,
+              -0.43210557103157043,
+              0.8095744848251343
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+            "closest_active_finger_button": [
+              0.17935256659984586,
+              -0.447427362203598,
+              0.7750765085220337
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14065122604370114,
+              0.015321791172027588,
+              0.034497976303100586
+            ],
+            "min_contact_pad_to_button": 0.02103462188419324,
+            "closest_contact_pad": [
+              0.17929261922836298,
+              -0.44943286202194277,
+              0.7888144132503103
+            ],
+            "closest_contact_pad_button": [
+              0.17929261922836298,
+              -0.44734209775924677,
+              0.7678839564323425
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002090764262695999,
+              0.02093045681796779
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "89c5c1c0472a24de10108b251348001d0af51aa5b83f88d806e6a6060df2e5f8",
+    "visual_seed": 4566713866227189501,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f4b2697ae8c99106a1abca665a217d03b61d3ee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_91_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.2915407394691638,
+              0.35239343017105357,
+              1.0505359537511247
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+            "lift_margin": 0.19394943912435914,
+            "gripper_z": 1.0500211758381013,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.2862308803147613,
+              0.3473449966043286,
+              1.0500211758381013
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+              0.005309859154402519,
+              0.005048433566724964,
+              0.0005147779130234564
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+            "object_to_gripper_xy": 0.007326751375420594,
+            "object_to_gripper_z": 0.0005147779130234564,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2915407394691638,
+              0.32786523151927693,
+              1.0505359537511247
+            ],
+            "finger_b": [
+              0.2793160613335538,
+              0.35239343017105357,
+              1.0505359537511247
+            ],
+            "finger_midpoint": [
+              0.2854284004013588,
+              0.3401293308451653,
+              1.0505359537511247
+            ],
+            "object_minus_finger_midpoint": [
+              0.006112339067805006,
+              0.012264099325888289,
+              0.0
+            ],
+            "finger_gap": 0.027405752765072493,
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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": 0.010941109201948981,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04825174831632921,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6174817326246589,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7e9074f299403bd608db492fd50b6adf55827dc9eff1e14c2473e2f0642409a3",
+    "visual_seed": 2463495251910973209,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa08d50eb8e4042fefedccfcca5f2752eaef231a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_92_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.3421410658734796,
+              1.048591411486542
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+              0.2859291386593847,
+              0.3370750324247316,
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+              0.0050660334487480085,
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+              0.3176699955410881,
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+              0.32990553070728384,
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+              0.012235535166195743,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875391222716109,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 8.990453596879888e-05,
+            "max_held_gripper_z_dist": 0.00020423120478896273,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
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+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15506909182975964,
+            "release_required_pad_clearance": 0.05337730278024112,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.769846209925504,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008787751197814941,
+            "max_z_decrease": 0.008787751197814941,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500812891444924,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008787751197814941,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020982686146505086,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008787751197814941,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008788038973395675,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17668452858924857,
+              -0.44736307859420776,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17668452858924857,
+              -0.44736307859420776,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17732199801395504,
+              -0.4467746145924423,
+              0.8033925622792681
+            ],
+            "closest_button": [
+              0.17664781212806696,
+              -0.44730517268180847,
+              0.768394947052002
+            ],
+            "closest_ee_minus_button": [
+              0.0006741858858880789,
+              0.0005305580893661954,
+              0.03499761522726619
+            ],
+            "button_min_z_position": [
+              0.17663989961147297,
+              -0.44730770587921137,
+              0.7680211067199707
+            ],
+            "min_active_finger_to_button": 0.1451135307382958,
+            "closest_active_finger": [
+              0.049860090017318726,
+              -0.5088879466056824,
+              0.8103232383728027
+            ],
+            "closest_active_finger_button": [
+              0.1766905486583709,
+              -0.4473661184310913,
+              0.7758698463439941
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12683045864105216,
+              -0.061521828174591064,
+              0.034453392028808594
+            ],
+            "min_contact_pad_to_button": 0.020982686146505086,
+            "closest_contact_pad": [
+              0.17663989961147297,
+              -0.4480207640666245,
+              0.7889916733776483
+            ],
+            "closest_contact_pad_button": [
+              0.17663989961147297,
+              -0.44730770587921137,
+              0.7680211067199707
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007130581874131292,
+              0.020970566657677603
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a9a31ed613e4d540bba214a5b07e5c21d1ecbdf7e16bd93890c50ae66bdb9fa0",
+    "visual_seed": 5557471075148377178,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7a474a5409bae7ca0476296a8418c46c2660ef5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_93_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2853365486794979,
+              0.34853519979502884,
+              1.048460871005163
+            ],
+            "current_z": 1.048460871005163,
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+            "initial_z": 0.7565866444265428,
+            "lift_margin": 0.1918742265786203,
+            "gripper_z": 1.0485213643856062,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27936991490580876,
+              0.3433024924038702,
+              1.0485213643856062
+            ],
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+              0.005966633773689167,
+              0.005232707391158664,
+              -6.049338044311625e-05
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+            "object_to_gripper_xy": 0.007936116508142679,
+            "object_to_gripper_z": -6.049338044311625e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2853365486794979,
+              0.3234079044203358,
+              1.048460871005163
+            ],
+            "finger_b": [
+              0.2730345916511869,
+              0.34853519979502884,
+              1.048460871005163
+            ],
+            "finger_midpoint": [
+              0.2791855701653424,
+              0.3359715521076823,
+              1.048460871005163
+            ],
+            "object_minus_finger_midpoint": [
+              0.006150978514155525,
+              0.012563647687346524,
+              0.0
+            ],
+            "finger_gap": 0.02797711778531667,
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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": 1.048460871005163,
+            "object_top_z": 1.0951678681134953,
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+            "object_projection_between_fingers": 0.8066507602256113,
+            "object_to_finger_line_xy": 0.01104884750134578,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049582806794599185,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3352073082792884,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28465386733018905,
+              0.3478352104574159,
+              1.2381016275073953
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+            "held_position": [
+              0.2908832356361375,
+              0.3527499938611793,
+              1.2379743961614114
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
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+              0.27985765600707324,
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+              0.28537044582160537,
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+          "failure_messages": {},
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3253387640488018,
+              -0.38578625734494526,
+              0.8470196790297118
+            ],
+            "target_position": [
+              0.31768256055997834,
+              -0.38822521540513905,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008035295158340897,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18948968767057092,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196790297118,
+            "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": 0.07513840286634749,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08610517332319238,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1588413262505465,
+            "release_required_pad_clearance": 0.05305258666159619,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1343453054296784,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008890032768249512,
+            "max_z_decrease": 0.008890032768249512,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506319685800427,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008890032768249512,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02096089206619946,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008890032768249512,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00889029408177184,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17338249087333685,
+              -0.444486677646637,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17338249087333685,
+              -0.444486677646637,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.175193231976879,
+              -0.4433408321949604,
+              0.8029195904660142
+            ],
+            "closest_button": [
+              0.17340263724327093,
+              -0.4444215595722199,
+              0.7679188251495361
+            ],
+            "closest_ee_minus_button": [
+              0.0017905947336080696,
+              0.001080727377259505,
+              0.03500076531647811
+            ],
+            "button_min_z_position": [
+              0.17340263724327093,
+              -0.4444215595722199,
+              0.7679188251495361
+            ],
+            "min_active_finger_to_button": 0.14381054092465684,
+            "closest_active_finger": [
+              0.04770253598690033,
+              -0.5053176879882812,
+              0.8105903267860413
+            ],
+            "closest_active_finger_button": [
+              0.17338688671588903,
+              -0.44448849558830267,
+              0.7761704921722412
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1256843507289887,
+              -0.06082919239997858,
+              0.03441983461380005
+            ],
+            "min_contact_pad_to_button": 0.02096089206619946,
+            "closest_contact_pad": [
+              0.17340263724327093,
+              -0.4446178694047625,
+              0.7888787979229085
+            ],
+            "closest_contact_pad_button": [
+              0.17340263724327093,
+              -0.4444215595722199,
+              0.7679188251495361
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00019630983254259604,
+              0.02095997277337236
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "699bcbdd5947f7d6127c92602d3cb5d450eca97847eb3155eaa5c3448c8fece6",
+    "visual_seed": 317064719558697570,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cec6b47afaedf53685cc6689e05f8a6a5f682ba2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_94_success.json
@@ -0,0 +1,926 @@
+{
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+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02087283551003405,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008887529373168945,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008887794534541357,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17343880236148831,
+              -0.44723048806190485,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17343880236148831,
+              -0.44723048806190485,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17348680898156865,
+              -0.4448537565269193,
+              0.8029012064723653
+            ],
+            "closest_button": [
+              0.17341567575931546,
+              -0.4471658468246459,
+              0.7679213285446167
+            ],
+            "closest_ee_minus_button": [
+              7.113322225318908e-05,
+              0.00231209029772661,
+              0.03497987792774859
+            ],
+            "button_min_z_position": [
+              0.17341567575931546,
+              -0.4471658468246459,
+              0.7679213285446167
+            ],
+            "min_active_finger_to_button": 0.14482990585720845,
+            "closest_active_finger": [
+              0.04639660567045212,
+              -0.5077288746833801,
+              0.8110693693161011
+            ],
+            "closest_active_finger_button": [
+              0.1734420508146286,
+              -0.44723096489906305,
+              0.7767887711524963
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12704544514417648,
+              -0.06049790978431707,
+              0.034280598163604736
+            ],
+            "min_contact_pad_to_button": 0.02087283551003405,
+            "closest_contact_pad": [
+              0.17341567575931546,
+              -0.4471658468246459,
+              0.7887941640546507
+            ],
+            "closest_contact_pad_button": [
+              0.17341567575931546,
+              -0.4471658468246459,
+              0.7679213285446167
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02087283551003405
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3688da5e04bf121f53556760657d1d72f4f16c62e50e0fa41f18da4db43f1c70",
+    "visual_seed": 7970844764647517513,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a7901e0a07e88e1791eb6015a2ac90ed3fabd51
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_95_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2906793055801824,
+              0.3512971892488723,
+              1.04928662780265
+            ],
+            "current_z": 1.04928662780265,
+            "required_z": 0.8565865700673106,
+            "initial_z": 0.7565865700673107,
+            "lift_margin": 0.19270005773533938,
+            "gripper_z": 1.0488030146121061,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28486521881121174,
+              0.3461475992374998,
+              1.0488030146121061
+            ],
+            "object_minus_gripper": [
+              0.005814086768970661,
+              0.005149590011372496,
+              0.00048361319054390783
+            ],
+            "object_to_gripper_xy": 0.007766716310149809,
+            "object_to_gripper_z": 0.00048361319054390783,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2906793055801824,
+              0.3262351978440445,
+              1.04928662780265
+            ],
+            "finger_b": [
+              0.27854136026934617,
+              0.3512971892488723,
+              1.04928662780265
+            ],
+            "finger_midpoint": [
+              0.2846103329247643,
+              0.3387661935464584,
+              1.04928662780265
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060689726554181145,
+              0.012530995702413894,
+              0.0
+            ],
+            "finger_gap": 0.027846599963810947,
+            "fingertip_max_gap": 0.09375817877137319,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01392329998190545,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04928662780265,
+            "object_top_z": 1.0959006453444773,
+            "finger_top_clearance": 0.04661401754182726,
+            "fingertip_min_top_clearance": 0.01398420526254821,
+            "object_projection_between_fingers": 0.8100033249090199,
+            "object_to_finger_line_xy": 0.010924173200598415,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049379089385686595,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3852128490503617,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29050250913247905,
+              0.3499476390585097,
+              1.2388339694249448
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+            "held_position": [
+              0.2966327078239458,
+              0.3547226511793571,
+              1.239247716492535
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0077814692306170455,
+            "max_held_gripper_dist": 0.007782643981556498,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00041374706759023105,
+            "max_held_gripper_z_dist": 0.0005028779878579748,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08865353013970212,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2966327078239458,
+              0.32886540900753103,
+              1.239247716492535
+            ],
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+              0.2860438594964464,
+              0.3547226511793571,
+              1.239247716492535
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+            "held_grasp_midpoint": [
+              0.2913382836601961,
+              0.34179403009344406,
+              1.239247716492535
+            ],
+            "held_grasp_object_position": [
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+              0.3547226511793571,
+              1.239247716492535
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+            "held_grasp_finger_gap": 0.027941379379609138,
+            "held_grasp_max_gap": 0.1249656131863594,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025361137216622184,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04393130181417979,
+              -0.9988040850119114,
+              0.021457876978632884
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004729631507762473,
+            "held_grasp_line_xy_max_dist": 0.0474828065931797,
+            "held_grasp_object_top_z": 0.04520047828555107,
+            "held_grasp_top_clearance": 0.03205472778550003,
+            "held_grasp_min_top_clearance": 0.01356014348566532
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.33112278577036525,
+              -0.3904477447038567,
+              0.8470196794943534
+            ],
+            "target_position": [
+              0.3228202170202377,
+              -0.39264332921083345,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008587970608815016,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18682516677783492,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196794943534,
+            "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": 0.07524581298680263,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08559941249514562,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15586787258517507,
+            "release_required_pad_clearance": 0.05279970624757281,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6452809136183444,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008817970752716064,
+            "max_z_decrease": 0.008817970752716064,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501030412558191,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008817970752716064,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020979126601371682,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008817970752716064,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008818223573825527,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1785201430320739,
+              -0.44890478253364563,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1785201430320739,
+              -0.44890478253364563,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17707106322194915,
+              -0.44935703104939384,
+              0.8036568436525487
+            ],
+            "closest_button": [
+              0.17854033410549158,
+              -0.44888913631439203,
+              0.7686805129051208
+            ],
+            "closest_ee_minus_button": [
+              -0.0014692708835424284,
+              -0.0004678947350018059,
+              0.0349763307474279
+            ],
+            "button_min_z_position": [
+              0.17855954170227045,
+              -0.44885087013244623,
+              0.7679908871650696
+            ],
+            "min_active_finger_to_button": 0.14724971414181334,
+            "closest_active_finger": [
+              0.036331914365291595,
+              -0.43235331773757935,
+              0.8103663921356201
+            ],
+            "closest_active_finger_button": [
+              0.17852339148521418,
+              -0.44890716671943665,
+              0.7758695483207703
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14219147711992258,
+              0.0165538489818573,
+              0.034496843814849854
+            ],
+            "min_contact_pad_to_button": 0.020979126601371682,
+            "closest_contact_pad": [
+              0.17855954170227045,
+              -0.45052608390674453,
+              0.7889030226793298
+            ],
+            "closest_contact_pad_button": [
+              0.17855954170227045,
+              -0.44885087013244623,
+              0.7679908871650696
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016752137742983009,
+              0.02091213551426019
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "58106cbd5bc78b8cc63a93b749af0f5ebbad9c8007cc2131c9fe78b80e4b0a6a",
+    "visual_seed": 3549747610416295259,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f5aceffd858c15099ae6ca2c47239e7a585989a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_96_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2901126243137716,
+              0.3484753493888085,
+              1.05129099470145
+            ],
+            "current_z": 1.05129099470145,
+            "required_z": 0.8565865074085653,
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+            "lift_margin": 0.1947044872928846,
+            "gripper_z": 1.0511052637113067,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28454611837911026,
+              0.343404089106125,
+              1.0511052637113067
+            ],
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+              0.005566505934661348,
+              0.005071260282683454,
+              0.00018573099014318473
+            ],
+            "object_to_gripper_xy": 0.0075301838739397775,
+            "object_to_gripper_z": 0.00018573099014318473,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2901126243137716,
+              0.32362879297507796,
+              1.05129099470145
+            ],
+            "finger_b": [
+              0.2780334460399658,
+              0.3484753493888085,
+              1.05129099470145
+            ],
+            "finger_midpoint": [
+              0.2840730351768687,
+              0.33605207118194325,
+              1.05129099470145
+            ],
+            "object_minus_finger_midpoint": [
+              0.00603958913690289,
+              0.01242327820686523,
+              0.0
+            ],
+            "finger_gap": 0.027627122785246285,
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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": 1.0967800644554895,
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+            "fingertip_min_top_clearance": 0.013646720926211863,
+            "object_projection_between_fingers": 0.8088371634142197,
+            "object_to_finger_line_xy": 0.010863454249093905,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790618417675853,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.26866936334508534,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
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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"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "91a90e5adedc4de9f27051234b7de6527cfe8f2c1bf0e224b0694da175846ad8",
+    "visual_seed": 278340999239149647,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c654a6f2b354f9fff758d4e8afcc3074567c2512
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_97_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.3506108708028106,
+              1.0507251631270933
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+            "gripper_z": 1.0504676414836698,
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+              0.28076119993568105,
+              0.3455969171119005,
+              1.0504676414836698
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+              0.005013953690910122,
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+              0.32599943247396623,
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+              0.3383051516383884,
+              1.0507251631270933
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+              0.01230571916442219,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
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+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.35373822282054546,
+              1.2425497527035827
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+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.00020997686881263355,
+            "max_held_gripper_z_dist": 0.0002935691296610532,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08856927067487858,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+              0.34086015432397615,
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+              0.35373822282054546,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.024708298689391756,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
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+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15368125388461093,
+            "release_required_pad_clearance": 0.05266505030847897,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.38765330713489105,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008761167526245117,
+            "max_z_decrease": 0.008761167526245117,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503299263066811,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008761167526245117,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020805212407399853,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008761167526245117,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008761588325540493,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17384549975395197,
+              -0.445443868637085,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17384549975395197,
+              -0.445443868637085,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17226363256144964,
+              -0.44382846872628656,
+              0.8030061661000728
+            ],
+            "closest_button": [
+              0.17391984164714808,
+              -0.44540089368820196,
+              0.7680476903915405
+            ],
+            "closest_ee_minus_button": [
+              -0.0016562090856984402,
+              0.0015724249619153974,
+              0.03495847570853228
+            ],
+            "button_min_z_position": [
+              0.17391984164714808,
+              -0.44540089368820196,
+              0.7680476903915405
+            ],
+            "min_active_finger_to_button": 0.1464796141037603,
+            "closest_active_finger": [
+              0.045900918543338776,
+              -0.5080398917198181,
+              0.8104856014251709
+            ],
+            "closest_active_finger_button": [
+              0.17384578287601465,
+              -0.4454451203346253,
+              0.7763054370880127
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12794486433267588,
+              -0.06259477138519282,
+              0.0341801643371582
+            ],
+            "min_contact_pad_to_button": 0.020805212407399853,
+            "closest_contact_pad": [
+              0.17391984164714808,
+              -0.44540089368820196,
+              0.7888529027989404
+            ],
+            "closest_contact_pad_button": [
+              0.17391984164714808,
+              -0.44540089368820196,
+              0.7680476903915405
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020805212407399853
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "61b6bea2dd9bcc6565e63fe4c3c3713d1baaeae39ff7093a555d9298dbe45d01",
+    "visual_seed": 908446829706655219,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e0c915b727a47d6527b9d422c8a8ab8ad50f8a5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_98_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2869307253099664,
+              0.35244796873679524,
+              1.0505516883475743
+            ],
+            "current_z": 1.0505516883475743,
+            "required_z": 0.856586541590861,
+            "initial_z": 0.756586541590861,
+            "lift_margin": 0.19396514675671328,
+            "gripper_z": 1.0502520897915228,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28158549402368815,
+              0.34736056884697414,
+              1.0502520897915228
+            ],
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+              0.005345231286278229,
+              0.005087399889821098,
+              0.00029959855605143915
+            ],
+            "object_to_gripper_xy": 0.007379236758822644,
+            "object_to_gripper_z": 0.00029959855605143915,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2869307253099664,
+              0.3279275291858642,
+              1.0505516883475743
+            ],
+            "finger_b": [
+              0.274609432713836,
+              0.35244796873679524,
+              1.0505516883475743
+            ],
+            "finger_midpoint": [
+              0.2807700790119012,
+              0.34018774896132975,
+              1.0505516883475743
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061606462980651755,
+              0.012260219775465486,
+              0.0
+            ],
+            "finger_gap": 0.027442051800299492,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013721025900149708,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0505516883475743,
+            "object_top_z": 1.0965047467875402,
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+            "object_projection_between_fingers": 0.7984051736404932,
+            "object_to_finger_line_xy": 0.011009508782045712,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04814485695737657,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.548528138092864,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28749435291711334,
+              0.3507816644485102,
+              1.2390987902872053
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+            "held_position": [
+              0.29329610870058126,
+              0.35534821344078676,
+              1.2393128089220153
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007386443247322174,
+            "max_held_gripper_dist": 0.007388563974199551,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00021401863481007588,
+            "max_held_gripper_z_dist": 0.0003119538190268223,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08889259297079316,
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+            "held_motion_ok": true,
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+              "held_object": "beaker_b",
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+                "beaker_b"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3322718710853629,
+              -0.39104264474000006,
+              0.8470195749122102
+            ],
+            "target_position": [
+              0.324421616937503,
+              -0.3931619472817578,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008131293467185418,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18573016876782247,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195749122102,
+            "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": 0.0758412858521429,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498396937261064,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15343093201097593,
+            "release_required_pad_clearance": 0.052491984686305324,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.055945377406288105,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008950233459472656,
+            "max_z_decrease": 0.008950233459472656,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503114768996316,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008950233459472656,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.0208898467660059,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008950233459472656,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008950487990642193,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18012154102325434,
+              -0.4494234025478363,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18012154102325434,
+              -0.4494234025478363,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18135936994360105,
+              -0.4483978845819999,
+              0.802855618405086
+            ],
+            "closest_button": [
+              0.18015049397945399,
+              -0.4493624269962311,
+              0.767858624458313
+            ],
+            "closest_ee_minus_button": [
+              0.0012088759641470659,
+              0.000964542414231162,
+              0.034996993946773025
+            ],
+            "button_min_z_position": [
+              0.18015049397945399,
+              -0.4493624269962311,
+              0.767858624458313
+            ],
+            "min_active_finger_to_button": 0.14430990051958348,
+            "closest_active_finger": [
+              0.05523698776960373,
+              -0.5130854249000549,
+              0.810667097568512
+            ],
+            "closest_active_finger_button": [
+              0.18012416362762446,
+              -0.4494255781173706,
+              0.7763747572898865
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12488717585802073,
+              -0.06365984678268433,
+              0.03429234027862549
+            ],
+            "min_contact_pad_to_button": 0.0208898467660059,
+            "closest_contact_pad": [
+              0.18015049397945399,
+              -0.4494041194678173,
+              0.7887484296188457
+            ],
+            "closest_contact_pad_button": [
+              0.18015049397945399,
+              -0.4493624269962311,
+              0.767858624458313
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -4.16924715861966e-05,
+              0.020889805160532737
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0e00c5e69151e911e9ccb8d6bc81d49641035ad8014ef71bdeab4f62934a9648",
+    "visual_seed": 5138740132986301021,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..847fa736de879339ac97012e165cc447dfefbaa4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_99_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "max_z_decrease_with_contact_point": 0.008933067321777344,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008933431039237612,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17638359963893885,
+              -0.4427513480186463,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17638359963893885,
+              -0.4427513480186463,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1776468699238589,
+              -0.4420961052462685,
+              0.803291728057643
+            ],
+            "closest_button": [
+              0.17634800076484675,
+              -0.4426849782466889,
+              0.7682873010635376
+            ],
+            "closest_ee_minus_button": [
+              0.0012988691590121448,
+              0.0005888730004203757,
+              0.03500442699410544
+            ],
+            "button_min_z_position": [
+              0.17633967101573939,
+              -0.44268375635147095,
+              0.7678757905960083
+            ],
+            "min_active_finger_to_button": 0.1444489759769024,
+            "closest_active_finger": [
+              0.05185013264417648,
+              -0.5074557065963745,
+              0.8103138208389282
+            ],
+            "closest_active_finger_button": [
+              0.17638488113880152,
+              -0.44275441765785223,
+              0.7761034965515137
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12453474849462504,
+              -0.06470128893852228,
+              0.03421032428741455
+            ],
+            "min_contact_pad_to_button": 0.02087976902503907,
+            "closest_contact_pad": [
+              0.17633967101573939,
+              -0.44302290788506427,
+              0.7887528050084247
+            ],
+            "closest_contact_pad_button": [
+              0.17633967101573939,
+              -0.44268375635147095,
+              0.7678757905960083
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003391515335933182,
+              0.020877014412416406
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "workflow_spec_digest": "4e961124db6cf3aef8e8a69e26f753eff580f2c9efb9a3ac9be04f9bc1f76c87",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "914340a4b57aaa1857e45591ab9fd0b450ae14af40e9b606d3a67cb3c2e0d7a2",
+    "visual_seed": 1246203070735072413,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358,
+      6473832068464934172
+    ],
+    "runtime_workflow_digest": "61b1f22c500f72e200cbb3d960c4fe7576268cc10e63546e70fc49cfb8ac59bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b188518dd3b5166c59d1d4abbfe1b6f1274d8f71
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00025/results/episode_9_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28508336013799385,
+              0.34940309123760127,
+              1.0483298512945662
+            ],
+            "current_z": 1.0483298512945662,
+            "required_z": 0.8565867354495362,
+            "initial_z": 0.7565867354495363,
+            "lift_margin": 0.19174311584503,
+            "gripper_z": 1.0480533878441238,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2796921821159015,
+              0.34437694703298843,
+              1.0480533878441238
+            ],
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+              0.0053911780220923244,
+              0.005026144204612837,
+              0.00027646345044241016
+            ],
+            "object_to_gripper_xy": 0.007370680160708001,
+            "object_to_gripper_z": 0.00027646345044241016,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28508336013799385,
+              0.32474282479797567,
+              1.0483298512945662
+            ],
+            "finger_b": [
+              0.27298609727648454,
+              0.34940309123760127,
+              1.0483298512945662
+            ],
+            "finger_midpoint": [
+              0.2790347287072392,
+              0.33707295801778847,
+              1.0483298512945662
+            ],
+            "object_minus_finger_midpoint": [
+              0.006048631430754625,
+              0.0123301332198128,
+              0.0
+            ],
+            "finger_gap": 0.027467662980562746,
+            "fingertip_max_gap": 0.09137646821414061,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013733831490281359,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0483298512945662,
+            "object_top_z": 1.094108638728076,
+            "finger_top_clearance": 0.04577878743350983,
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+            "object_projection_between_fingers": 0.8060316752755281,
+            "object_to_finger_line_xy": 0.010860833903711115,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818823410707031,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.54755198724802,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2854011899173497,
+              0.3477949295778847,
+              1.237289437135689
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+            "held_position": [
+              0.29117255231639116,
+              0.352381655972033,
+              1.2374952162532429
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007374891728091178,
+            "max_held_gripper_dist": 0.0073766357452352245,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00020577911755381706,
+            "max_held_gripper_z_dist": 0.0002895043341157866,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08743225988925768,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29117255231639116,
+              0.3266746088772053,
+              1.2374952162532429
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+            "held_grasp_finger_b": [
+              0.2810055314256613,
+              0.352381655972033,
+              1.2374952162532429
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+            "held_grasp_midpoint": [
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+              0.33952813242461916,
+              1.2374952162532429
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+            "held_grasp_object_position": [
+              0.29117255231639116,
+              0.352381655972033,
+              1.2374952162532429
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+            "held_grasp_finger_gap": 0.027644539861032748,
+            "held_grasp_max_gap": 0.12496582925319671,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024742822494302034,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08536134366731396,
+              -0.9962518434791859,
+              0.013989473601046966
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00397197219883796,
+            "held_grasp_line_xy_max_dist": 0.04748291462659836,
+            "held_grasp_object_top_z": 0.04520069435238838,
+            "held_grasp_top_clearance": 0.03196141254091102,
+            "held_grasp_min_top_clearance": 0.013560208305716514
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+}
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_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_23","position":[0.22430960168076353,1.2350393924508025,0.71338606911949],"aabb_xy":[[0.16030960000276617,1.1865220009714883],[0.2883096033587609,1.2835567839301167]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_24","position":[0.40804412342105767,1.2961388346169023,0.71338606911949],"aabb_xy":[[0.4007618070443939,1.2061388310073928],[0.4153264397977212,1.3861388382264108]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_25","position":[-0.42667294917546766,-2.33521397391235,0.71338606911949],"aabb_xy":[[-0.476672950194603,-2.371680189650178],[-0.37667294815633245,-2.298747758174522]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[-0.6770823313498168,-2.3993067476041854,0.71338606911949],"aabb_xy":[[-0.6945823306279036,-2.416644847670532],[-0.6595823320717299,-2.38196864753784]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_27","position":[-0.33135507905818246,1.2366517087100344,0.71338606911949],"aabb_xy":[[-0.36885507916377536,1.229829546857053],[-0.29385507895258944,1.2434738705630153]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_28","position":[-0.09736732934067183,0.4458239557200354,0.71338606911949],"aabb_xy":[[-0.11986375077453591,0.423323955913288],[-0.07487090790680771,0.46832395552678285]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_29","position":[0.631671647920766,0.7122190124499026,0.71338606911949],"aabb_xy":[[0.597896088730073,0.6981805172367376],[0.665447207111459,0.7262575076630676]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_30","position":[0.4035637385316524,-1.5964719310106865,0.71338606911949],"aabb_xy":[[0.33356374212169054,-1.6169098666623678],[0.47356373494161413,-1.5760339953590043]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_31","position":[0.15563338387767456,-2.3321661832376326,0.71338606911949],"aabb_xy":[[0.1357423439973343,-2.3448219945223294],[0.1755244237580148,-2.3195103719529357]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7005108261322059,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6509.png","name":"6509"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6509.png","name":"6509"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7942.png","name":"7942"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5220.png","name":"5220"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/63.png","name":"63"},{"group":"ceiling_textures","target":"/W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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b0855ed244a620f9636e1e3f0adcbd442ad2e707
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_hte_00026
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Shake the current contents of
+    beaker b once. Place beaker b on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00026
+  reproducibility:
+    enabled: true
+    layout_id: layout_00026
+    action_seed: 8709091252989081451
+    step_seeds:
+    - 8125585604563232929
+    - 4598593424619752825
+    - 6528445040825174555
+    - 3529294668470908039
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2212
+      - 0.2212
+      'y':
+      - 0.0186
+      - 0.0186
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.289
+      - 0.289
+      'y':
+      - 0.2935
+      - 0.2935
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3464
+      - 0.3464
+      'y':
+      - 0.1565
+      - 0.1565
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2656
+      - 0.2656
+      'y':
+      - -0.3841
+      - -0.3841
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..23ea2a3c4c76b29a68378fc8c8f81ded7206f46b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_0_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
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+              0.29699394322687983,
+              1.049824966252318
+            ],
+            "current_z": 1.049824966252318,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.19323863765768678,
+            "gripper_z": 1.0495886479618415,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.29177931374587196,
+              1.0495886479618415
+            ],
+            "object_minus_gripper": [
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+              0.005214629481007871,
+              0.00023631829047654485
+            ],
+            "object_to_gripper_xy": 0.0076236332058871505,
+            "object_to_gripper_z": 0.00023631829047654485,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31032339618891336,
+              0.27235022531222147,
+              1.049824966252318
+            ],
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+            ],
+            "object_minus_finger_midpoint": [
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+              0.01232185895732918,
+              0.0
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+            "finger_gap": 0.027647788227189433,
+            "fingertip_max_gap": 0.09093098700528904,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013823894113594717,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049824966252318,
+            "object_top_z": 1.0953475889350912,
+            "finger_top_clearance": 0.045522622682773184,
+            "fingertip_min_top_clearance": 0.013656786804831955,
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+            "object_to_finger_line_xy": 0.011171627769470149,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04796549350264452,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.33180595370985383,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.29527862021062895,
+              1.2401489716715417
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+            "shake_count": 5,
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+            "held_gripper_z_dist": 0.00014354447781395052,
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+            "held_gripper_z_max_dist": 0.15,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02470164839638361,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9958072735216668,
+              0.012487446099651908
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_top_clearance": 0.031903003721269516,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
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+              0.847019513956199
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18785996170344238,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019513956199,
+            "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": 0.07565033977322416,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08597229004638195,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15603400523119282,
+            "release_required_pad_clearance": 0.052986145023190975,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0055999960365924,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008894503116607666,
+            "max_z_decrease": 0.008894503116607666,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035025359803975566,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008894503116607666,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020952257781780177,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008894503116607666,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008894775119578126,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17600831389427174,
+              -0.441409170627594,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17600831389427174,
+              -0.441409170627594,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1773291682157699,
+              -0.4408108185891023,
+              0.8029115782909169
+            ],
+            "closest_button": [
+              0.1760304272174834,
+              -0.44134321808815,
+              0.767914354801178
+            ],
+            "closest_ee_minus_button": [
+              0.0012987409982865017,
+              0.0005323994990477088,
+              0.03499722348973888
+            ],
+            "button_min_z_position": [
+              0.1760304272174834,
+              -0.44134321808815,
+              0.767914354801178
+            ],
+            "min_active_finger_to_button": 0.1444530154580441,
+            "closest_active_finger": [
+              0.050281621515750885,
+              -0.5036682486534119,
+              0.810533344745636
+            ],
+            "closest_active_finger_button": [
+              0.17601244151592244,
+              -0.4414115250110626,
+              0.776145339012146
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12573082000017155,
+              -0.06225672364234924,
+              0.03438800573348999
+            ],
+            "min_contact_pad_to_button": 0.020952257781780177,
+            "closest_contact_pad": [
+              0.1760304272174834,
+              -0.44200101106785944,
+              0.788856284381568
+            ],
+            "closest_contact_pad_button": [
+              0.1760304272174834,
+              -0.44134321808815,
+              0.767914354801178
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006577929797094151,
+              0.020941929580389984
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "901658ad64a1b28037a2cefa10844b07e2d5e52a311cd84658e928087d50baac",
+    "visual_seed": 712735921588692080,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..009f3faab12771cd3c5afaa9ae81b8069801b10c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_100_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.314664019293872,
+              0.2989649238827965,
+              1.0491763809247072
+            ],
+            "current_z": 1.0491763809247072,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.1925899927254312,
+            "gripper_z": 1.049367943003253,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30910996208121105,
+              0.29374275300789476,
+              1.049367943003253
+            ],
+            "object_minus_gripper": [
+              0.0055540572126609455,
+              0.005222170874901733,
+              -0.00019156207854575946
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+            "object_to_gripper_xy": 0.007623556923653354,
+            "object_to_gripper_z": -0.00019156207854575946,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.314664019293872,
+              0.274351134112328,
+              1.0491763809247072
+            ],
+            "finger_b": [
+              0.30207939882279733,
+              0.2989649238827965,
+              1.0491763809247072
+            ],
+            "finger_midpoint": [
+              0.30837170905833466,
+              0.2866580289975622,
+              1.0491763809247072
+            ],
+            "object_minus_finger_midpoint": [
+              0.006292310235537335,
+              0.012306894885234287,
+              0.0
+            ],
+            "finger_gap": 0.02764437228923479,
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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": 1.0491763809247072,
+            "object_top_z": 1.0950682789869903,
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+            "fingertip_min_top_clearance": 0.013767569418684966,
+            "object_projection_between_fingers": 0.7927632470124334,
+            "object_to_finger_line_xy": 0.011205000402081475,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048202933182003735,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5852828427731644,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
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+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cf54fca0918b78ce9db16266bd51989a7fdad4d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_101_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+                "Robotiq2F85",
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+                "elbow_joint",
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+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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",
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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": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+          "safety": {
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+              "robot_prim_substrings": [
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
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+            "placed_release_frames": 151,
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+          "failure_messages": {},
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+              "held_object": "beaker_b",
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+                "heater_platform"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "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",
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+                "panda_joint3",
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+                "panda_leftfinger",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
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+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
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+                "ground",
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+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008738100528717041,
+            "max_z_decrease": 0.008738100528717041,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035024047681183106,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008738100528717041,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02086137971428026,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008738100528717041,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0087382233728085,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.173501119017601,
+              -0.4414834976196289,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.173501119017601,
+              -0.4414834976196289,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17397710496893062,
+              -0.4402174864671594,
+              0.8030701799968604
+            ],
+            "closest_button": [
+              0.17349256575107574,
+              -0.4414379596710205,
+              0.7680707573890686
+            ],
+            "closest_ee_minus_button": [
+              0.0004845392178548791,
+              0.0012204732038610944,
+              0.034999422607791764
+            ],
+            "button_min_z_position": [
+              0.17349256575107574,
+              -0.4414379596710205,
+              0.7680707573890686
+            ],
+            "min_active_finger_to_button": 0.14484179756895857,
+            "closest_active_finger": [
+              0.04815041273832321,
+              -0.5055016875267029,
+              0.8105249404907227
+            ],
+            "closest_active_finger_button": [
+              0.17350146174430844,
+              -0.4414852559566498,
+              0.7763466238975525
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12535104900598523,
+              -0.0640164315700531,
+              0.034178316593170166
+            ],
+            "min_contact_pad_to_button": 0.02086137971428026,
+            "closest_contact_pad": [
+              0.17349256575107574,
+              -0.4414379596710205,
+              0.7889321371033489
+            ],
+            "closest_contact_pad_button": [
+              0.17349256575107574,
+              -0.4414379596710205,
+              0.7680707573890686
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02086137971428026
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5ebe7f96dcbba84db74547257f4291887ee4869bea9ae204e19655119b6784de",
+    "visual_seed": 3285814292186289720,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..63b7151a5f3a7fc85ea51ebbeb6e30a9f065dad4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_102_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.3184975668741107,
+              0.3020029479608676,
+              1.0477669762894848
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+            "lift_margin": 0.19118046888091922,
+            "gripper_z": 1.0476371189522822,
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+            "gripper_position": [
+              0.3128983976864546,
+              0.2968494944501803,
+              1.0476371189522822
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+              0.005599169187656072,
+              0.0051534535106873,
+              0.00012985733720261017
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+            "object_to_gripper_z": 0.00012985733720261017,
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+              0.27725788655115247,
+              1.0477669762894848
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+              0.3020029479608676,
+              1.0477669762894848
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+              0.3123208899568761,
+              0.28963041725601,
+              1.0477669762894848
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+              0.006176676917234558,
+              0.012372530704857554,
+              0.0
+            ],
+            "finger_gap": 0.0276572488713206,
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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": 0.04795726689353792,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.30034504017282493,
+              1.237393070012212
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+              0.3050565902039963,
+              1.2374206038316942
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007621236632596071,
+            "max_held_gripper_dist": 0.007622261664024315,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 2.7533819482172817e-05,
+            "max_held_gripper_z_dist": 0.0001385984359081327,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08904988130796399,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.27932268336663474,
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+              0.2921896367853155,
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+            "held_grasp_object_position": [
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+              1.2374206038316942
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+            "held_grasp_finger_gap": 0.027774667080736025,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02485710689859195,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07647789626808077,
+              -0.9969836773457834,
+              0.013216598975821392
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004229083706982824,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "link0",
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+            },
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+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              -0.38382225706870415,
+              0.8470196095243259
+            ],
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+              0.3176323194201705,
+              -0.38621884803021767,
+              0.8084375599031817
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18815704562022265,
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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_pad_clearance_ok": true,
+            "release_gap_ok": false,
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+            "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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008713781833648682,
+            "max_z_decrease": 0.008713781833648682,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034999544293123075,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008713781833648682,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020985867077712758,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008713781833648682,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008713877724391316,
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+            "button_start": [
+              0.17333224415779108,
+              -0.44248029589653015,
+              0.7768088579177856
+            ],
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+              0.17333224415779108,
+              -0.44248029589653015,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1714306011302219,
+              -0.44335548659326146,
+              0.8035629108046655
+            ],
+            "closest_button": [
+              0.17338316142559046,
+              -0.4424661099910736,
+              0.7686291933059692
+            ],
+            "closest_ee_minus_button": [
+              -0.001952560295368555,
+              -0.0008893766021878524,
+              0.034933717498696226
+            ],
+            "button_min_z_position": [
+              0.17333948612213126,
+              -0.44244006276130676,
+              0.768095076084137
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+            "min_active_finger_to_button": 0.1475891261451851,
+            "closest_active_finger": [
+              0.03078065812587738,
+              -0.42588454484939575,
+              0.8101654052734375
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+            "closest_active_finger_button": [
+              0.17333567142486567,
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+              0.7757413387298584
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+            "closest_active_finger_minus_button": [
+              -0.1425550132989883,
+              0.016601264476776123,
+              0.0344240665435791
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+            "closest_contact_pad": [
+              0.17333948612213126,
+              -0.44451891841020996,
+              0.7889777238136384
+            ],
+            "closest_contact_pad_button": [
+              0.17333948612213126,
+              -0.44244006276130676,
+              0.768095076084137
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020788556489031995,
+              0.020882647729501436
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "921fb47066faf06c02514dc7540b8ea73561dfbda0d595285468cce4b89390f7",
+    "visual_seed": 7623669685821343490,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..681115e89a8ec6336e6d1b4bb0d7f62e99f9b860
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_103_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+              1.0494314112231438
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+              0.31735356204442056,
+              0.270278610525424,
+              1.0484595211105534
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+              1.0484595211105534
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+              0.28286582987704023,
+              1.0484595211105534
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+            "fingertip_z_skew_max": 0.035,
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+            "object_tilt_deg": 1.0427401927801108,
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+              1.0
+            ],
+            "stable_success_frames": 226,
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6f9ad4f904a8f6f705d495519567f80b66cba335679093ab4755e90b97485d24",
+    "visual_seed": 1309126566813167820,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9a733285c1b1491a0d6004b44364f546fc14c3f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_104_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.2907683974997539,
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+            "stable_success_frames": 225,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "source_missing": false,
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
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+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_min_pad_clearance": 0.15616767998019326,
+            "release_required_pad_clearance": 0.05277108858857442,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5908272721575238,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008722841739654541,
+            "max_z_decrease": 0.008722841739654541,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034959407190598084,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008722841739654541,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02101134321406222,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008722841739654541,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008723068450437839,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17035196721553802,
+              -0.4435908198356628,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17035196721553802,
+              -0.4435908198356628,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16878430367506675,
+              -0.44453678419225423,
+              0.8035403851239444
+            ],
+            "closest_button": [
+              0.17039832472801208,
+              -0.44356799125671387,
+              0.7686316967010498
+            ],
+            "closest_ee_minus_button": [
+              -0.0016140210529453358,
+              -0.0009687929355403635,
+              0.03490868842289463
+            ],
+            "button_min_z_position": [
+              0.17039212584495544,
+              -0.4435424208641052,
+              0.7680860161781311
+            ],
+            "min_active_finger_to_button": 0.1472615575837592,
+            "closest_active_finger": [
+              0.02822721004486084,
+              -0.42624908685684204,
+              0.8101006150245667
+            ],
+            "closest_active_finger_button": [
+              0.17035530507564545,
+              -0.44359636306762695,
+              0.7756819725036621
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1421280950307846,
+              0.017347276210784912,
+              0.03441864252090454
+            ],
+            "min_contact_pad_to_button": 0.02101134321406222,
+            "closest_contact_pad": [
+              0.17039212584495544,
+              -0.44583294675900037,
+              0.788972136803655
+            ],
+            "closest_contact_pad_button": [
+              0.17039212584495544,
+              -0.4435424208641052,
+              0.7680860161781311
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022905258948951457,
+              0.020886120625523863
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e79c88e3150083208b8ccc95190af41cffbf1e7efd90b8f9f6bea8bcf8937bea",
+    "visual_seed": 310541571429977327,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_105_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4384ff07d166edc753d91813642dc54afb692365
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_105_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.2939950482518194,
+              1.0487306543646844
+            ],
+            "current_z": 1.0487306543646844,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1921442065607636,
+            "gripper_z": 1.0484428030953992,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3110815517322363,
+              0.2888124422932962,
+              1.0484428030953992
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+              0.0055005344489320596,
+              0.0051826059585231565,
+              0.0002878512692852109
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+            "object_to_gripper_xy": 0.007557465431294281,
+            "object_to_gripper_z": 0.0002878512692852109,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31658208618116834,
+              0.26939502133631305,
+              1.0487306543646844
+            ],
+            "finger_b": [
+              0.3040859754281814,
+              0.2939950482518194,
+              1.0487306543646844
+            ],
+            "finger_midpoint": [
+              0.31033403080467487,
+              0.2816950347940662,
+              1.0487306543646844
+            ],
+            "object_minus_finger_midpoint": [
+              0.006248055376493478,
+              0.012300013457753167,
+              0.0
+            ],
+            "finger_gap": 0.027591921067489162,
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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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+            "finger_top_clearance": 0.04591449585987051,
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+            "object_to_finger_line_xy": 0.011141111201018716,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04812971425218367,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5156950210263015,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_finger_gap": 0.027734860516972108,
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+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02475876530029678,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9956535011356313,
+              0.019973533574512484
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003906481054899651,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3266427142543619,
+              -0.38354973842210616,
+              0.8470195574275017
+            ],
+            "target_position": [
+              0.3192648180707737,
+              -0.3855678157449469,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007648920719733562,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1853517261113973,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195574275017,
+            "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": 0.07579453266796542,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498276802208847,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15308453779665454,
+            "release_required_pad_clearance": 0.05249138401104424,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.055952720099114214,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008777499198913574,
+            "max_z_decrease": 0.008777499198913574,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034997203404809524,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008777499198913574,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02085016545912016,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008777499198913574,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008777740856687973,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17496474087238312,
+              -0.4418292641639709,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17496474087238312,
+              -0.4418292641639709,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1747314078916823,
+              -0.44096462104572376,
+              0.8030179205054564
+            ],
+            "closest_button": [
+              0.1750092059373855,
+              -0.44178166985511774,
+              0.7680313587188721
+            ],
+            "closest_ee_minus_button": [
+              -0.00027779804570321476,
+              0.0008170488093939832,
+              0.034986561786584325
+            ],
+            "button_min_z_position": [
+              0.1750092059373855,
+              -0.44178166985511774,
+              0.7680313587188721
+            ],
+            "min_active_finger_to_button": 0.1456069320284101,
+            "closest_active_finger": [
+              0.048830509185791016,
+              -0.5060425996780396,
+              0.8104771971702576
+            ],
+            "closest_active_finger_button": [
+              0.1749649792909622,
+              -0.4418303668498993,
+              0.7762973308563232
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12613447010517118,
+              -0.06421223282814026,
+              0.034179866313934326
+            ],
+            "min_contact_pad_to_button": 0.02085016545912016,
+            "closest_contact_pad": [
+              0.1750092059373855,
+              -0.4419354603911694,
+              0.7888809569918295
+            ],
+            "closest_contact_pad_button": [
+              0.1750092059373855,
+              -0.44178166985511774,
+              0.7680313587188721
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0001537905360516345,
+              0.020849598272957404
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "34365ec72b2145aaf019b333c93c2723e0fb4e692590679244923abd47375627",
+    "visual_seed": 171859260961949445,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c0a6170ebdfd81d938afc6c4e7ee28b8c5e30dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_106_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
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+                "Robotiq2F85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+      }
+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.29696253948456575,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15453491536128655,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5352212090100047,
+            "object_max_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",
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+            "source_missing": false,
+            "forbidden": [],
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+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008786439895629883,
+            "max_z_decrease": 0.008786439895629883,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500052765977804,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008786439895629883,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.0210446846314826,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008786439895629883,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008786643257718435,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17445847392082217,
+              -0.4419805109500885,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17445847392082217,
+              -0.4419805109500885,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1734202037410251,
+              -0.44250029031148613,
+              0.8030020650144528
+            ],
+            "closest_button": [
+              0.17448417842388156,
+              -0.4419265389442444,
+              0.7680224180221558
+            ],
+            "closest_ee_minus_button": [
+              -0.0010639746828564611,
+              -0.0005737513672417482,
+              0.03497964699229705
+            ],
+            "button_min_z_position": [
+              0.17448417842388156,
+              -0.4419265389442444,
+              0.7680224180221558
+            ],
+            "min_active_finger_to_button": 0.14675653425906443,
+            "closest_active_finger": [
+              0.032924652099609375,
+              -0.42432647943496704,
+              0.81015944480896
+            ],
+            "closest_active_finger_button": [
+              0.1744631677865982,
+              -0.44198256731033325,
+              0.7756255269050598
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14153851568698883,
+              0.01765608787536621,
+              0.034533917903900146
+            ],
+            "min_contact_pad_to_button": 0.0210446846314826,
+            "closest_contact_pad": [
+              0.17448417842388156,
+              -0.44385960627010784,
+              0.7889781332796276
+            ],
+            "closest_contact_pad_button": [
+              0.17448417842388156,
+              -0.4419265389442444,
+              0.7680224180221558
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019330673258634579,
+              0.020955715257471863
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5055398adf004fc2248d0654e98bf341a66cec30df04187f6dc3a9213d614700",
+    "visual_seed": 5162029329608190748,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_107_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c2cebf7c3f9e603028927c333520c71fe204160
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_107_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3151526256788758,
+              0.2940684527051682,
+              1.0482374478685776
+            ],
+            "current_z": 1.0482374478685776,
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+            "lift_margin": 0.19165094046001208,
+            "gripper_z": 1.049260123396573,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3091922903444204,
+              0.2888075964732295,
+              1.049260123396573
+            ],
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+              0.005960335334455391,
+              0.005260856231938671,
+              -0.001022675527995398
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+            "object_to_gripper_z": -0.001022675527995398,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3151526256788758,
+              0.2689184814664552,
+              1.0482374478685776
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+            "finger_b": [
+              0.3028348948106956,
+              0.2940684527051682,
+              1.0482374478685776
+            ],
+            "finger_midpoint": [
+              0.3089937602447857,
+              0.2814934670858117,
+              1.0482374478685776
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061588654340901106,
+              0.012574985619356494,
+              0.0
+            ],
+            "finger_gap": 0.028004420134132582,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_top_z": 1.0940037934481768,
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+            "object_projection_between_fingers": 0.806532396165164,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04859857578429065,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2923602855248641,
+              1.2385291815340984
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+            "held_position": [
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+              0.2972364707933748,
+              1.237408635459815
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008015495142367556,
+            "max_held_gripper_dist": 0.008017480412872733,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011205460742833573,
+            "max_held_gripper_z_dist": 0.0012709414258458285,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08858081987849523,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.2713671515014079,
+              1.237408635459815
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+              0.28430181114739134,
+              1.237408635459815
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+            "held_grasp_object_position": [
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+              0.2972364707933748,
+              1.237408635459815
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+            "held_grasp_finger_gap": 0.028025495904772643,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025364227214623326,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.044301506053662044,
+              -0.9989359885123261,
+              0.012816685073729014
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004814552534900402,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032040544534060494,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              -0.37746355138055543,
+              0.8470195970486879
+            ],
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+              0.3221607426161612,
+              -0.38056620527870877,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
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+            "gripper_away_ok": true,
+            "object_z": 0.8470195970486879,
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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": 0.15935912244669295,
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+            "release_pad_clearance_ok": true,
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 1.6144269100344861,
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+            "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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008768260478973389,
+            "max_z_decrease": 0.008768260478973389,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502179250422647,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008768260478973389,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02113305050160194,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008768260478973389,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0087686045817536,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17786066234111791,
+              -0.4368276596069336,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17786066234111791,
+              -0.4368276596069336,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17817293939702739,
+              -0.43806145962731524,
+              0.8034126710814457
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+            "closest_button": [
+              0.17781879007816317,
+              -0.4367707073688507,
+              0.7684164643287659
+            ],
+            "closest_ee_minus_button": [
+              0.00035414931886421086,
+              -0.0012907522584645337,
+              0.03499620675267978
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+            "button_min_z_position": [
+              0.17780975997447973,
+              -0.4367689788341522,
+              0.7680405974388123
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+            "min_active_finger_to_button": 0.14537361088577858,
+            "closest_active_finger": [
+              0.0375216081738472,
+              -0.42126891016960144,
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+              0.17786899209022528,
+              -0.43683385848999023,
+              0.7733505368232727
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+            "closest_active_finger_minus_button": [
+              -0.14034738391637808,
+              0.015564948320388794,
+              0.03455185890197754
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+            "closest_contact_pad": [
+              0.17780975997447973,
+              -0.439284877655063,
+              0.7890233540886473
+            ],
+            "closest_contact_pad_button": [
+              0.17780975997447973,
+              -0.4367689788341522,
+              0.7680405974388123
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025158988209108,
+              0.020982756649835066
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff995cc6aeae2174005475caea443cf0143fbbfb4bb9ff6ad4ddc0cd14620e29",
+    "visual_seed": 7327815072286439907,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_108_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..acef4f1bf32d5ae9b85f99b14a96987a2cc789d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_108_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+    {
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+              1.0506221649199279
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+            "gripper_z": 1.0508059119187299,
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+            "object_to_gripper_z": -0.0001837469988019702,
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+              0.2721735199830307,
+              1.0506221649199279
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+            "finger_midpoint": [
+              0.30942021405758746,
+              0.2844892620630566,
+              1.0506221649199279
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+              0.012315742080025893,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 228,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "08dbb2f3821f25c9a460775df9812986105a489895ca54ff61ef63eca79fb405",
+    "visual_seed": 1451150047714145368,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_109_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c90cdc4430a72eff7b6c9b9df47403901bcf7e67
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_109_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.291760013004823,
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+            "stable_success_frames": 228,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_min_pad_clearance": 0.1552965392069876,
+            "release_required_pad_clearance": 0.05263917288405538,
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 0.33804088486763434,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00851750373840332,
+            "max_z_decrease": 0.00851750373840332,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034972495837509915,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00851750373840332,
+            "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": 0.02088769205122659,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00851750373840332,
+            "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": 0.008517647957533944,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17429254949092865,
+              -0.43589070439338684,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17429254949092865,
+              -0.43589070439338684,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17250073359947785,
+              -0.4359001452980269,
+              0.8034558728355821
+            ],
+            "closest_button": [
+              0.17435476183891296,
+              -0.4358647167682647,
+              0.7685325741767883
+            ],
+            "closest_ee_minus_button": [
+              -0.0018540282394351182,
+              -3.542852976218258e-05,
+              0.03492329865879373
+            ],
+            "button_min_z_position": [
+              0.17433296144008636,
+              -0.43586200475692743,
+              0.7682913541793823
+            ],
+            "min_active_finger_to_button": 0.14736221243879302,
+            "closest_active_finger": [
+              0.045599162578582764,
+              -0.49896833300590515,
+              0.8108556270599365
+            ],
+            "closest_active_finger_button": [
+              0.1742948293685913,
+              -0.43589362502098083,
+              0.7765827775001526
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12869566679000854,
+              -0.06307470798492432,
+              0.034272849559783936
+            ],
+            "min_contact_pad_to_button": 0.02088769205122659,
+            "closest_contact_pad": [
+              0.17435476183891296,
+              -0.43706629670380903,
+              0.7893856767010021
+            ],
+            "closest_contact_pad_button": [
+              0.17435476183891296,
+              -0.4358647167682647,
+              0.7685325741767883
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012015799355443169,
+              0.020853102524213796
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 109,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c7a9d81632a862f3921a3ffd369541fd05a78c07a652f67c9feaa6665d0cb749",
+    "visual_seed": 3913995434620652383,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3048173035e60e605f45fb5394dd69bd5826c722
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_10_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3121210096950834,
+              0.292357712627731,
+              1.0492224473888072
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+            "required_z": 0.8565866266178551,
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+            "lift_margin": 0.1926358207709521,
+            "gripper_z": 1.0489395170240716,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3068678629604095,
+              0.2873351094110805,
+              1.0489395170240716
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+              0.005253146734673864,
+              0.005022603216650545,
+              0.00028293036473558963
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+            "object_to_gripper_z": 0.00028293036473558963,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.26791898396972547,
+              1.0492224473888072
+            ],
+            "finger_b": [
+              0.2998597026596168,
+              0.292357712627731,
+              1.0492224473888072
+            ],
+            "finger_midpoint": [
+              0.3059903561773501,
+              0.28013834829872825,
+              1.0492224473888072
+            ],
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+              0.006130653517733287,
+              0.01221936432900278,
+              0.0
+            ],
+            "finger_gap": 0.02734211236604817,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31301164138066123,
+              0.28984194567164034,
+              1.2400177618968597
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+            "held_position": [
+              0.3187492802411418,
+              0.29430718681578616,
+              1.240203559757481
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3295487395959955,
+              -0.3850839594935421,
+              0.8470194507201696
+            ],
+            "target_position": [
+              0.32313329511749933,
+              -0.3863345073361158,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006536191380554334,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18538436814771006,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194507201696,
+            "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": 0.07570959389124758,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08553898342904363,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15329221993986095,
+            "release_required_pad_clearance": 0.05276949171452182,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5868390168443609,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00883859395980835,
+            "max_z_decrease": 0.00883859395980835,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035045336971436906,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00883859395980835,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020950538832163357,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00883859395980835,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008838867418583286,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1788332164287567,
+              -0.44259595870971685,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1788332164287567,
+              -0.44259595870971685,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17752687608783077,
+              -0.4406251146251037,
+              0.8036685522457756
+            ],
+            "closest_button": [
+              0.1788473129272461,
+              -0.4425849914550782,
+              0.7687029838562012
+            ],
+            "closest_ee_minus_button": [
+              -0.0013204368394153232,
+              0.001959876829974505,
+              0.03496556838957443
+            ],
+            "button_min_z_position": [
+              0.1788034290075302,
+              -0.4425331354141236,
+              0.7679702639579773
+            ],
+            "min_active_finger_to_button": 0.14631771351926798,
+            "closest_active_finger": [
+              0.049481794238090515,
+              -0.5015795826911926,
+              0.809548556804657
+            ],
+            "closest_active_finger_button": [
+              0.1788397878408432,
+              -0.44260075688362127,
+              0.7749525904655457
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12935799360275269,
+              -0.058978825807571356,
+              0.03459596633911133
+            ],
+            "min_contact_pad_to_button": 0.020950538832163357,
+            "closest_contact_pad": [
+              0.1788034290075302,
+              -0.4425331354141236,
+              0.7889208027901407
+            ],
+            "closest_contact_pad_button": [
+              0.1788034290075302,
+              -0.4425331354141236,
+              0.7679702639579773
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020950538832163357
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "59cf336e18df3976f3a333fd8e7285750f1ef55099b615e484eb7d150b4194d9",
+    "visual_seed": 8903707539372857774,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_110_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ac61564e0e3a2e8be9a794970a7c7ff7d2689c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_110_success.json
@@ -0,0 +1,926 @@
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+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020963717258543468,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008862972259521484,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00886337351237571,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1754718273878098,
+              -0.44106605648994446,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1754718273878098,
+              -0.44106605648994446,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.176896108271822,
+              -0.4407363913050083,
+              0.8033618070946844
+            ],
+            "closest_button": [
+              0.17542818188667303,
+              -0.4410045146942138,
+              0.7683567404747009
+            ],
+            "closest_ee_minus_button": [
+              0.0014679263851489766,
+              0.00026812338920551015,
+              0.03500506661998348
+            ],
+            "button_min_z_position": [
+              0.17541892826557165,
+              -0.4410003721714019,
+              0.7679458856582642
+            ],
+            "min_active_finger_to_button": 0.14443825015396772,
+            "closest_active_finger": [
+              0.03618369996547699,
+              -0.4245576858520508,
+              0.8088465929031372
+            ],
+            "closest_active_finger_button": [
+              0.17547771334648138,
+              -0.44107049703598017,
+              0.7743949890136719
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1392940133810044,
+              0.016512811183929388,
+              0.03445160388946533
+            ],
+            "min_contact_pad_to_button": 0.020963717258543468,
+            "closest_contact_pad": [
+              0.17541892826557165,
+              -0.441903821892616,
+              0.788890126391635
+            ],
+            "closest_contact_pad_button": [
+              0.17541892826557165,
+              -0.4410003721714019,
+              0.7679458856582642
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009034497212140891,
+              0.020944240733370867
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 110,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cf7d40b784756762ee8d017083224c59f759c2e8f7085bb81e043e8be6c29570",
+    "visual_seed": 8353847974014692851,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_111_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c6f064678cd21bb6aa9e2620cad32a5d4b90617
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_111_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3094344541959518,
+              0.297422009004095,
+              1.0481049761106842
+            ],
+            "current_z": 1.0481049761106842,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19151840909747386,
+            "gripper_z": 1.0478625190963133,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.303895154718426,
+              0.2924029057539426,
+              1.0478625190963133
+            ],
+            "object_minus_gripper": [
+              0.005539299477525794,
+              0.005019103250152368,
+              0.00024245701437086709
+            ],
+            "object_to_gripper_xy": 0.007474973989078999,
+            "object_to_gripper_z": 0.00024245701437086709,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3094344541959518,
+              0.27253279108518425,
+              1.0481049761106842
+            ],
+            "finger_b": [
+              0.29750533932469286,
+              0.297422009004095,
+              1.0481049761106842
+            ],
+            "finger_midpoint": [
+              0.3034698967603223,
+              0.2849774000446396,
+              1.0481049761106842
+            ],
+            "object_minus_finger_midpoint": [
+              0.005964557435629458,
+              0.012444608959455372,
+              0.0
+            ],
+            "finger_gap": 0.027600307067616445,
+            "fingertip_max_gap": 0.09324595111923475,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013800153533808222,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481049761106842,
+            "object_top_z": 1.0948522902976754,
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+            "object_projection_between_fingers": 0.8131949495592661,
+            "object_to_finger_line_xy": 0.010757356390387518,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04912297555961738,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0406707151277663,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3096351167494205,
+              0.29554064611526976,
+              1.2357103141004229
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+            "held_position": [
+              0.3155178847242249,
+              0.30015813849899975,
+              1.235819807668051
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007479317067790363,
+            "max_held_gripper_dist": 0.0074818236482550185,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00010949356762823825,
+            "max_held_gripper_z_dist": 0.0002552654673910748,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08865777226669305,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3155178847242249,
+              0.2744053811293453,
+              1.235819807668051
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+            "held_grasp_finger_b": [
+              0.30542080551293216,
+              0.30015813849899975,
+              1.235819807668051
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+            "held_grasp_midpoint": [
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+              0.28728175981417253,
+              1.235819807668051
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+            "held_grasp_object_position": [
+              0.3155178847242249,
+              0.30015813849899975,
+              1.235819807668051
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+            "held_grasp_finger_gap": 0.02766144466110565,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02504917243799908,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06350570869608398,
+              -0.9975784045301807,
+              0.02836109620637861
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004236787653485977,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03203441657573759,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                "split_aloha",
+                "tool_center",
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+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+            },
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              -0.38234139485049906,
+              0.8470196283667408
+            ],
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+              0.3160856637570587,
+              -0.38374486772625144,
+              0.8084375599031817
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+            "xy_dist": 0.006851510876199424,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18679099790927364,
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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_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.9577621769513305,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008638262748718262,
+            "max_z_decrease": 0.008638262748718262,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035027880525576566,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008638262748718262,
+            "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": 0.02106524762984869,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008638262748718262,
+            "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": 0.008638394928345996,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17178559303283686,
+              -0.4400063157081604,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17178559303283686,
+              -0.4400063157081604,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1708244168518397,
+              -0.4414293239315301,
+              0.8035265645096191
+            ],
+            "closest_button": [
+              0.17177464067935938,
+              -0.43996161222457886,
+              0.7685423493385315
+            ],
+            "closest_ee_minus_button": [
+              -0.0009502238275196917,
+              -0.001467711706951258,
+              0.03498421517108763
+            ],
+            "button_min_z_position": [
+              0.171769767999649,
+              -0.4399612247943878,
+              0.7681705951690674
+            ],
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+            "closest_active_finger": [
+              0.030162714421749115,
+              -0.42468395829200745,
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+            "closest_active_finger_button": [
+              0.1717864871025085,
+              -0.4400098323822021,
+              0.7764903903007507
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14162377268075937,
+              0.015325874090194647,
+              0.03435409069061279
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+            "closest_contact_pad": [
+              0.171769767999649,
+              -0.44264660735452016,
+              0.7890639763749082
+            ],
+            "closest_contact_pad_button": [
+              0.171769767999649,
+              -0.4399612247943878,
+              0.7681705951690674
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026853825601323433,
+              0.020893381205840833
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 111,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4300da48fc478daa413bf287634fd81faa9b82cd890265ab7208e1d5f3c050cf",
+    "visual_seed": 6888361064724438015,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_112_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d091e69a18037e895a1acdc83e169fea380d28f8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_112_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 112,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.29750409340824885,
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+            "lift_margin": 0.19205552553071947,
+            "gripper_z": 1.0484685638628777,
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+              0.3039861752267448,
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+              1.0484685638628777
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+              0.005152233296880915,
+              0.0001735286810522485
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+            "object_to_gripper_z": 0.0001735286810522485,
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+              0.2728534545240416,
+              1.04864209254393
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+            "finger_b": [
+              0.29709780361129967,
+              0.29750409340824885,
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+            "finger_midpoint": [
+              0.30329279971954815,
+              0.2851787739661452,
+              1.04864209254393
+            ],
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+              0.006194996108248529,
+              0.012325319442103633,
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+            "finger_gap": 0.027589235301552807,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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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"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 112,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5dbf4eea1e48af75a6571ff2279e305898c309fd567bc300867d2f134c7e1ac6",
+    "visual_seed": 8870653463653682844,
+    "episode_index": 112,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..69559298c44be8c269d9afd3b5a041273cc55d07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_11_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+          "skill": "pick",
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+              0.29357025702309786,
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+              0.28847968645897276,
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+              0.28122295103444106,
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+            "stable_success_frames": 227,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008527815341949463,
+            "max_z_decrease": 0.008527815341949463,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502541066030662,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008527815341949463,
+            "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": 0.020968961820091645,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008527815341949463,
+            "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": 0.008527865447754832,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1721973717212677,
+              -0.4381088316440582,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1721973717212677,
+              -0.4381088316440582,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17071772066923166,
+              -0.43908212722079487,
+              0.8036278894557969
+            ],
+            "closest_button": [
+              0.17219659686088556,
+              -0.4380771517753601,
+              0.7686481475830078
+            ],
+            "closest_ee_minus_button": [
+              -0.001478876191653905,
+              -0.0010049754454347637,
+              0.03497974187278907
+            ],
+            "button_min_z_position": [
+              0.17219416797161102,
+              -0.43807977437973017,
+              0.7682810425758362
+            ],
+            "min_active_finger_to_button": 0.14707846987867348,
+            "closest_active_finger": [
+              0.02989167720079422,
+              -0.4237159788608551,
+              0.810901403427124
+            ],
+            "closest_active_finger_button": [
+              0.17219743132591242,
+              -0.4381113648414612,
+              0.7766388654708862
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1423057541251182,
+              0.014395385980606079,
+              0.03426253795623779
+            ],
+            "min_contact_pad_to_button": 0.020968961820091645,
+            "closest_contact_pad": [
+              0.17219416797161102,
+              -0.4401808628359216,
+              0.7891444743911373
+            ],
+            "closest_contact_pad_button": [
+              0.17219416797161102,
+              -0.43807977437973017,
+              0.7682810425758362
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021010884561914467,
+              0.020863431815301148
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f067af10eded611d11695838543efb64a0bd170c1188dd2c765c00dfbd069400",
+    "visual_seed": 6872575925451067447,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe1d102663eedb61a94f731fc692320e65fda857
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_12_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3164846049788285,
+              0.3026329181918394,
+              1.049201848390472
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+            "lift_margin": 0.19261528137726158,
+            "gripper_z": 1.050042897605102,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3105748032599086,
+              0.2974755102172842,
+              1.050042897605102
+            ],
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+              0.005909801718919916,
+              0.005157407974555217,
+              -0.0008410492146300186
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+            "object_to_gripper_z": -0.0008410492146300186,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3164846049788285,
+              0.2774548255823577,
+              1.049201848390472
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+              0.30439954685792897,
+              0.3026329181918394,
+              1.049201848390472
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+            "finger_midpoint": [
+              0.31044207591837875,
+              0.29004387188709857,
+              1.049201848390472
+            ],
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+              0.006042529060449775,
+              0.012589046304740836,
+              0.0
+            ],
+            "finger_gap": 0.02792821113564488,
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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": 1.0949970943502523,
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+            "object_projection_between_fingers": 0.8127545606033982,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485532773356447,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
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+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31613514553082056,
+              0.3013138990715376,
+              1.2388990077002209
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+              0.3061477260293631,
+              1.2379626708071465
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00789071680701597,
+            "max_held_gripper_dist": 0.007892108196399425,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009363368930743743,
+            "max_held_gripper_z_dist": 0.001093237696007776,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08823249897393365,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+                "beaker_b"
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+                "/World/target_beaker"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
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+                "workbench"
+              ],
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+            },
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+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32600887325289124,
+              -0.3847416935217199,
+              0.8470193046420802
+            ],
+            "target_position": [
+              0.3172629920793288,
+              -0.3877560594815579,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009250775083305412,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18817494571727378,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193046420802,
+            "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": 0.07559142861107486,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08725203446672013,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15652388510994447,
+            "release_required_pad_clearance": 0.053626017233360065,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2618080663714943,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008885443210601807,
+            "max_z_decrease": 0.008885443210601807,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350444543353052,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008885443210601807,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02088359198730874,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008885443210601807,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008885761649019289,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17296291887760157,
+              -0.4440175294876098,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17296291887760157,
+              -0.4440175294876098,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17445612112419306,
+              -0.44342764853722616,
+              0.803340990055367
+            ],
+            "closest_button": [
+              0.172933354973793,
+              -0.44395545125007624,
+              0.7683336138725281
+            ],
+            "closest_ee_minus_button": [
+              0.0015227661504000622,
+              0.0005278027128500784,
+              0.03500737618283889
+            ],
+            "button_min_z_position": [
+              0.17292350530624384,
+              -0.44395345449447626,
+              0.7679234147071838
+            ],
+            "min_active_finger_to_button": 0.14426755760866564,
+            "closest_active_finger": [
+              0.048280805349349976,
+              -0.5080318450927734,
+              0.8103934526443481
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+            "closest_active_finger_button": [
+              0.172963798046112,
+              -0.44401958584785456,
+              0.7761924266815186
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12468299269676203,
+              -0.06401225924491888,
+              0.03420102596282959
+            ],
+            "min_contact_pad_to_button": 0.02088359198730874,
+            "closest_contact_pad": [
+              0.17292350530624384,
+              -0.44442992176235874,
+              0.7888015705940198
+            ],
+            "closest_contact_pad_button": [
+              0.17292350530624384,
+              -0.44395345449447626,
+              0.7679234147071838
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004764672678824744,
+              0.020878155886835947
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b904730f13e1de6834703d9909a601a56f24d9b1ca334108243442a409c6391",
+    "visual_seed": 7814062226765525349,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b61984f38242f38a84123044224549c49ddc26af
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_13_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
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+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008892980335387596,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1764838099479675,
+              -0.44386777281761164,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1764838099479675,
+              -0.44386777281761164,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1745846114419031,
+              -0.4441787124551822,
+              0.8036374842899182
+            ],
+            "closest_button": [
+              0.17650683224201197,
+              -0.4438487291336059,
+              0.7686796188354492
+            ],
+            "closest_ee_minus_button": [
+              -0.0019222208001088703,
+              -0.0003299833215762993,
+              0.034957865454468995
+            ],
+            "button_min_z_position": [
+              0.1765208691358566,
+              -0.4438099265098571,
+              0.7679161429405212
+            ],
+            "min_active_finger_to_button": 0.14770854643384332,
+            "closest_active_finger": [
+              0.03387384116649628,
+              -0.4268350899219513,
+              0.8100020289421082
+            ],
+            "closest_active_finger_button": [
+              0.17648608982563013,
+              -0.44387128949165344,
+              0.7755153775215149
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14261224865913386,
+              0.01703619956970215,
+              0.03448665142059326
+            ],
+            "min_contact_pad_to_button": 0.020952084763743023,
+            "closest_contact_pad": [
+              0.1765208691358566,
+              -0.445366059600756,
+              0.7888103599813793
+            ],
+            "closest_contact_pad_button": [
+              0.1765208691358566,
+              -0.4438099265098571,
+              0.7679161429405212
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001556133090898859,
+              0.020894217040858032
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "773976ed76fdb2655aa4ec1ef45df24c2d9c1cbc4ee2e9e23129aef8261f1845",
+    "visual_seed": 5608487357439961139,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb66cc1334a96c4e6e3c6d4858639bf264773779
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31819852964289086,
+              0.2910912479851627,
+              1.0491036093885875
+            ],
+            "current_z": 1.0491036093885875,
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+            "lift_margin": 0.19251704237537715,
+            "gripper_z": 1.0491327212490122,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3128050490306252,
+              0.28596538447234376,
+              1.0491327212490122
+            ],
+            "object_minus_gripper": [
+              0.005393480612265633,
+              0.005125863512818962,
+              -2.9111860424757552e-05
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+            "object_to_gripper_xy": 0.007440706274738576,
+            "object_to_gripper_z": -2.9111860424757552e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31819852964289086,
+              0.26655652129917157,
+              1.0491036093885875
+            ],
+            "finger_b": [
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+              0.2910912479851627,
+              1.0491036093885875
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+            "finger_midpoint": [
+              0.3119962379047071,
+              0.2788238846421671,
+              1.0491036093885875
+            ],
+            "object_minus_finger_midpoint": [
+              0.006202291738183763,
+              0.012267363342995607,
+              0.0
+            ],
+            "finger_gap": 0.0274922990086034,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.796416650845988,
+            "object_to_finger_line_xy": 0.011070120587259641,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04831445955718401,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7365850949102778,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.28874353798274566,
+              1.2365343935483701
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+            "held_position": [
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+              0.29332048332183663,
+              1.236369666722776
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007441834623259958,
+            "max_held_gripper_dist": 0.007444437654358315,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00016472682559420804,
+            "max_held_gripper_z_dist": 0.0003006549185833318,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08882214836585262,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.32464386448283494,
+              0.2675282560084386,
+              1.236369666722776
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+              0.29332048332183663,
+              1.236369666722776
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+              0.3196719913655718,
+              0.2804243696651376,
+              1.236369666722776
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+            "held_grasp_object_position": [
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+              0.29332048332183663,
+              1.236369666722776
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+            "held_grasp_finger_gap": 0.027642667725142785,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024699240153417113,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09690512138977984,
+              -0.9949834800041572,
+              0.0248449585881958
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037131445751345587,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031887004953176284,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
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+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_used": false,
+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              -0.37776368548359945,
+              0.847019599405638
+            ],
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+              0.8084375599031817
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 0.652518325235044,
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+            "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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "max_z_decrease": 0.008528709411621094,
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+            "min_ee_to_button": 0.035066310039209105,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008528709411621094,
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+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020966894956158888,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008528709411621094,
+            "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": 0.008528754494991788,
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+            "button_start": [
+              0.17440268397331232,
+              -0.4361504018306732,
+              0.7768088579177856
+            ],
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+              0.17440268397331232,
+              -0.4361504018306732,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17519800377624709,
+              -0.43411204528666675,
+              0.8032792289780968
+            ],
+            "closest_button": [
+              0.17438930273056025,
+              -0.43612611293792725,
+              0.7682801485061646
+            ],
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+              0.0008087010456868382,
+              0.0020140676512604982,
+              0.03499908047193223
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+              0.17438930273056025,
+              -0.43612611293792725,
+              0.7682801485061646
+            ],
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+            "closest_active_finger": [
+              0.04785735905170441,
+              -0.49639809131622314,
+              0.8103924989700317
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+              0.1744073331356048,
+              -0.43615299463272095,
+              0.7759877443313599
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.1265499740839004,
+              -0.0602450966835022,
+              0.034404754638671875
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+            "closest_contact_pad": [
+              0.17438930273056025,
+              -0.43612611293792725,
+              0.7892470434623234
+            ],
+            "closest_contact_pad_button": [
+              0.17438930273056025,
+              -0.43612611293792725,
+              0.7682801485061646
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020966894956158888
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8626a2a9371ac694819f549d7f45a96b025228bf237ebfd7cc5d53dcea63da0a",
+    "visual_seed": 6440895768982776489,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..50c14d754439dfb09ff449db697cba4adb3c0efb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_15_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.2944800867435878,
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+            "gripper_z": 1.0475108060950866,
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+            "gripper_position": [
+              0.30552455458452793,
+              0.28911575267241907,
+              1.0475108060950866
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+              0.005364334071168708,
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+            "object_to_gripper_z": 0.00015542466733498017,
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+              0.269453055540768,
+              1.0476662307624216
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+            "finger_midpoint": [
+              0.3051880767146294,
+              0.2819665711421779,
+              1.0476662307624216
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+              0.012513515601409897,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
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+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4cc09e60a9f7f0ebf9831370fd3d9f81224c3d183aae988201a23b74bbfc0c34",
+    "visual_seed": 1682387659600413049,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
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+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e9f57fa6b101e74f04c4e890bf071bbe2408704
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_16_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              1.049731630925396
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+              0.0,
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+            "max_stable_success_frames": 227,
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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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": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_required_pad_clearance": 0.05265055086267613,
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 0.35827172786132344,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008771061897277832,
+            "max_z_decrease": 0.008771061897277832,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035019034139594465,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008771061897277832,
+            "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": 0.02092033905724222,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008771061897277832,
+            "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": 0.00877128522128956,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17825780808925626,
+              -0.44386681914329523,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17825780808925626,
+              -0.44386681914329523,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1794746427887259,
+              -0.4438252414413682,
+              0.8030366745086609
+            ],
+            "closest_button": [
+              0.17828676104545593,
+              -0.4438113272190094,
+              0.7680377960205078
+            ],
+            "closest_ee_minus_button": [
+              0.001187881743269975,
+              -1.3914222358801798e-05,
+              0.034998878488153085
+            ],
+            "button_min_z_position": [
+              0.17828676104545593,
+              -0.4438113272190094,
+              0.7680377960205078
+            ],
+            "min_active_finger_to_button": 0.14458850720703814,
+            "closest_active_finger": [
+              0.03851567953824997,
+              -0.4298352599143982,
+              0.8109070658683777
+            ],
+            "closest_active_finger_button": [
+              0.1782605350017547,
+              -0.44386947154998774,
+              0.7765522599220276
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13974485546350474,
+              0.014034211635589544,
+              0.0343548059463501
+            ],
+            "min_contact_pad_to_button": 0.02092033905724222,
+            "closest_contact_pad": [
+              0.17828676104545593,
+              -0.4448106431722013,
+              0.7889342539475267
+            ],
+            "closest_contact_pad_button": [
+              0.17828676104545593,
+              -0.4438113272190094,
+              0.7680377960205078
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000999315953191915,
+              0.020896457927018885
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "33dff23c8a399eb37403989a279de0c7accd5b5338d1d20a295907a0f1471fdb",
+    "visual_seed": 6311771035222805681,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..86bcbd97f675d2552809a41661df241130da8e2b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31104405158023246,
+              0.30189130580639784,
+              1.0508662429375768
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+            "lift_margin": 0.19427967592436635,
+            "gripper_z": 1.0508348076496636,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30564013802769524,
+              0.29682446737783896,
+              1.0508348076496636
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+              0.005403913552537221,
+              0.005066838428558873,
+              3.143528791316186e-05
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+            "object_to_gripper_xy": 0.007407775195321224,
+            "object_to_gripper_z": 3.143528791316186e-05,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31104405158023246,
+              0.27728154949736844,
+              1.0508662429375768
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+              0.30189130580639784,
+              1.0508662429375768
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+              0.30492827639660747,
+              0.28958642765188314,
+              1.0508662429375768
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+              0.006115775183624994,
+              0.012304878154514698,
+              0.0
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+            "finger_gap": 0.027481829087169292,
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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": 0.010953254707496104,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048750990707754835,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8904722638885019,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3114731041587559,
+              0.29991994052706694,
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+            "held_position": [
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+              0.3045063446142949,
+              1.2400845435590813
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007406715885834863,
+            "max_held_gripper_dist": 0.007408283768316804,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 6.917699790309761e-05,
+            "max_held_gripper_z_dist": 0.00021221636953638878,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08819704981748333,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3172885622065023,
+              0.2787939377071761,
+              1.2400845435590813
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+              0.3045063446142949,
+              1.2400845435590813
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+            "held_grasp_midpoint": [
+              0.31223091128136393,
+              0.2916501411607355,
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint4",
+                "joint5",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
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+                "link0",
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+            },
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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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": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3292211416863045,
+              -0.37762445089370317,
+              0.8470198956836136
+            ],
+            "target_position": [
+              0.3211706803061243,
+              -0.37969618196493066,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00831276115771786,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18669022164271165,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198956836136,
+            "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": 0.07525342627416687,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08547590830959854,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1558166904269597,
+            "release_required_pad_clearance": 0.052737954154799274,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5263737000252061,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008608520030975342,
+            "max_z_decrease": 0.008608520030975342,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503739657823522,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008608520030975342,
+            "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": 0.021051121157136365,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008608520030975342,
+            "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": 0.008608643208565185,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1768705993890762,
+              -0.43595764040946955,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1768705993890762,
+              -0.43595764040946955,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17739928294681787,
+              -0.43424569879416625,
+              0.8031931356452379
+            ],
+            "closest_button": [
+              0.17684090137481687,
+              -0.43592244386672974,
+              0.7682003378868103
+            ],
+            "closest_ee_minus_button": [
+              0.0005583815720009988,
+              0.0016767450725634903,
+              0.03499279775842756
+            ],
+            "button_min_z_position": [
+              0.17684090137481687,
+              -0.43592244386672974,
+              0.7682003378868103
+            ],
+            "min_active_finger_to_button": 0.1447836200841436,
+            "closest_active_finger": [
+              0.049458086490631104,
+              -0.4953550398349762,
+              0.8093022704124451
+            ],
+            "closest_active_finger_button": [
+              0.17687878012657163,
+              -0.43596115708351135,
+              0.774681031703949
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12742069363594052,
+              -0.059393882751464844,
+              0.034621238708496094
+            ],
+            "min_contact_pad_to_button": 0.021051121157136365,
+            "closest_contact_pad": [
+              0.17684090137481687,
+              -0.43592244386672974,
+              0.7892514590439467
+            ],
+            "closest_contact_pad_button": [
+              0.17684090137481687,
+              -0.43592244386672974,
+              0.7682003378868103
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021051121157136365
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "467736e52b9d2807f764cc3527fdb0857d1900cbbc5bc71856f2aab0f6028b09",
+    "visual_seed": 2252710665618878897,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeeed975dc074612dc3c92e3a6063d32362fff0b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_19_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3106915417757905,
+              0.2921060149432738,
+              1.0486984364107126
+            ],
+            "current_z": 1.0486984364107126,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.19211180979285747,
+            "gripper_z": 1.0497240145485542,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3049275363264689,
+              0.28705737870643977,
+              1.0497240145485542
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+              -0.44117876504512327,
+              0.803121552388155
+            ],
+            "closest_button": [
+              0.17854072153568268,
+              -0.44100123643875117,
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+            ],
+            "closest_ee_minus_button": [
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+              -0.00017752860637210155,
+              0.03498427621551703
+            ],
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+              0.17854072153568268,
+              -0.44100123643875117,
+              0.7681372761726379
+            ],
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+            "closest_active_finger": [
+              0.037590689957141876,
+              -0.4238765835762024,
+              0.8088867664337158
+            ],
+            "closest_active_finger_button": [
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+              0.7742964029312134
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.14092851430177689,
+              0.01716864109039301,
+              0.03459036350250244
+            ],
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+            "closest_contact_pad": [
+              0.17854072153568268,
+              -0.4424598761103675,
+              0.7891182699239118
+            ],
+            "closest_contact_pad_button": [
+              0.17854072153568268,
+              -0.44100123643875117,
+              0.7681372761726379
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014586396716163574,
+              0.020980993751273824
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f0cb16093dfbb525e444fa9041840d32c0b92517df35f794e93aa7da9e508842",
+    "visual_seed": 1033885958275525645,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..28a6840e2b148bedbbcb6eb6a7de7e3c1c6d24ae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_20_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.31662607185069847,
+              0.2991191576626066,
+              1.0483299682176865
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+            "lift_margin": 0.1917434012044762,
+            "gripper_z": 1.0482836964359283,
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+            "gripper_position": [
+              0.311036526213461,
+              0.2939038201997842,
+              1.0482836964359283
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+              0.005215337462822378,
+              4.627178175820035e-05
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+            "object_to_gripper_z": 4.627178175820035e-05,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2744542124228472,
+              1.0483299682176865
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+              1.0483299682176865
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+              0.28678668504272686,
+              1.0483299682176865
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+              0.012332472619879742,
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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": 0.04815567721215559,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.29757537666313444,
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+              0.3023058696344802,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007644589527687482,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 5.2449252083031084e-05,
+            "max_held_gripper_z_dist": 0.00020100711088932854,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2765622421286077,
+              1.2374285761052966
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+              0.2894340558815439,
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+            "held_grasp_object_position": [
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+              0.3023058696344802,
+              1.2374285761052966
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024791245284337925,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9964794534507759,
+              0.01634850756476613
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004169339727149431,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.3253658917249764,
+              -0.38425157481336847,
+              0.8470196453508743
+            ],
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+              0.31754031778429515,
+              -0.3864645948329608,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008132469803705735,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18833556393545572,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196453508743,
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+            "min_z_margin": 0.2,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08595784594639132,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15701731823431134,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9922802651972201,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008747100830078125,
+            "max_z_decrease": 0.008747100830078125,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502769982817378,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008747100830078125,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020906998443860902,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008747100830078125,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008747226982253694,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17324024438858032,
+              -0.4427260458469391,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17324024438858032,
+              -0.4427260458469391,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17361049539492088,
+              -0.4411866222585023,
+              0.8034278220145674
+            ],
+            "closest_button": [
+              0.17322486639022822,
+              -0.44267186522483826,
+              0.7684337496757507
+            ],
+            "closest_ee_minus_button": [
+              0.00038562900469266137,
+              0.0014852429663359534,
+              0.034994072338816684
+            ],
+            "button_min_z_position": [
+              0.17322120070457456,
+              -0.4426831007003784,
+              0.7680617570877075
+            ],
+            "min_active_finger_to_button": 0.14488779576483576,
+            "closest_active_finger": [
+              0.04647938162088394,
+              -0.5039328336715698,
+              0.8106374740600586
+            ],
+            "closest_active_finger_button": [
+              0.17324346303939817,
+              -0.4427289068698883,
+              0.7763239145278931
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12676408141851422,
+              -0.06120392680168152,
+              0.03431355953216553
+            ],
+            "min_contact_pad_to_button": 0.020906998443860902,
+            "closest_contact_pad": [
+              0.17322120070457456,
+              -0.4426831007003784,
+              0.7889687555315684
+            ],
+            "closest_contact_pad_button": [
+              0.17322120070457456,
+              -0.4426831007003784,
+              0.7680617570877075
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020906998443860902
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eec8467450bc449cf87710a267b1d4cc1978dc335b6a6f3cb1994d254a735956",
+    "visual_seed": 6138546499409373839,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..12738871673de41ed2e57ed1db61924454801b9c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_21_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.2916404277973113,
+              1.0505882495830736
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+            "lift_margin": 0.1940016229652185,
+            "gripper_z": 1.0508796449951088,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3049881668122923,
+              0.28655216750350954,
+              1.0508796449951088
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+              0.005601755478850501,
+              0.005088260293801772,
+              -0.00029139541203515584
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+            "object_to_gripper_z": -0.00029139541203515584,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3105899222911428,
+              0.2667886921373384,
+              1.0505882495830736
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+            "finger_b": [
+              0.29846283909835003,
+              0.2916404277973113,
+              1.0505882495830736
+            ],
+            "finger_midpoint": [
+              0.3045263806947464,
+              0.27921455996732486,
+              1.0505882495830736
+            ],
+            "object_minus_finger_midpoint": [
+              0.006063541596396382,
+              0.012425867829986448,
+              0.0
+            ],
+            "finger_gap": 0.02765275595809729,
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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": 1.096958590307505,
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+            "object_projection_between_fingers": 0.8076749420675398,
+            "object_to_finger_line_xy": 0.01089869907688301,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04886520724135,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8142071165139111,
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+              0.0,
+              1.0
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+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    }
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+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
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+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
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+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9dd2a32be75d389247829b3ad3ec6359b92f6adf07592e68a9d0dd69d610101e",
+    "visual_seed": 2618630625834455456,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      4598593424619752825,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a19fe3a25f4510cab8c573206dc634ccc8b8d000
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_22_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
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+                "ur16e",
+                "ur5e",
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+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "caster",
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+                "ground",
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+                "table",
+                "wheel",
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+              ],
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+            },
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
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+          "metrics": {
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+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
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+            },
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+            "passed": true,
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 0.8374283272086291,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008672118186950684,
+            "max_z_decrease": 0.008672118186950684,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508610646091209,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008672118186950684,
+            "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": 0.02107369434227266,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008672118186950684,
+            "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": 0.008672353211909433,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17079076170921328,
+              -0.4376645088195801,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17079076170921328,
+              -0.4376645088195801,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1725903767701024,
+              -0.43912170145544577,
+              0.8031421531725714
+            ],
+            "closest_button": [
+              0.1707501113414765,
+              -0.4376152753829956,
+              0.768136739730835
+            ],
+            "closest_ee_minus_button": [
+              0.0018402654286258924,
+              -0.0015064260724501621,
+              0.035005413441736466
+            ],
+            "button_min_z_position": [
+              0.1707501113414765,
+              -0.4376152753829956,
+              0.768136739730835
+            ],
+            "min_active_finger_to_button": 0.14386985058560983,
+            "closest_active_finger": [
+              0.03180069476366043,
+              -0.423486590385437,
+              0.8107506036758423
+            ],
+            "closest_active_finger_button": [
+              0.17079293727874761,
+              -0.43766698241233826,
+              0.7764197587966919
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13899224251508718,
+              0.014180392026901245,
+              0.03433084487915039
+            ],
+            "min_contact_pad_to_button": 0.02107369434227266,
+            "closest_contact_pad": [
+              0.1707501113414765,
+              -0.4402521165407708,
+              0.7890448162071682
+            ],
+            "closest_contact_pad_button": [
+              0.1707501113414765,
+              -0.4376152753829956,
+              0.768136739730835
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026368411577751827,
+              0.020908076476333193
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f1cffaa045e14e84cc217cfcd14bbe337110f8e85e7a8b45384ebb8cd419fcb2",
+    "visual_seed": 3522992360890693446,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..44d95e7c4621dc2d2a070bb47d5da2bb8bb6a56a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31171405460133716,
+              0.2972934189819891,
+              1.0474656786065049
+            ],
+            "current_z": 1.0474656786065049,
+            "required_z": 0.8565865670132103,
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+            "lift_margin": 0.19087911159329451,
+            "gripper_z": 1.0470725192399466,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30647058924971327,
+              0.29222519284174203,
+              1.0470725192399466
+            ],
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+              0.005243465351623899,
+              0.005068226140247045,
+              0.00039315936655826
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+            "object_to_gripper_xy": 0.007292519804728939,
+            "object_to_gripper_z": 0.00039315936655826,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31171405460133716,
+              0.2728905700246324,
+              1.0474656786065049
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+            "finger_b": [
+              0.29936012622961317,
+              0.2972934189819891,
+              1.0474656786065049
+            ],
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+              0.30553709041547517,
+              0.28509199450331074,
+              1.0474656786065049
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061769641858619995,
+              0.012201424478678335,
+              0.0
+            ],
+            "finger_gap": 0.027351756496599093,
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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": 0.011021999560527995,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824259456771103,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6304702416953787,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31242970613082305,
+              0.29490849007082787,
+              1.239484575990674
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+            "held_position": [
+              0.31816251102402526,
+              0.29942459105235697,
+              1.239794851146622
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0073045527372516,
+            "max_held_gripper_dist": 0.0073066449875802165,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003102751559478367,
+            "max_held_gripper_z_dist": 0.000407816902507685,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08850193570817819,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.27366831510554235,
+              1.239794851146622
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+            "held_grasp_finger_b": [
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+            "held_grasp_midpoint": [
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+              0.28654645307894966,
+              1.239794851146622
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+            "held_grasp_object_position": [
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+              0.29942459105235697,
+              1.239794851146622
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+            "held_grasp_finger_gap": 0.02759360693923977,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024656029228980855,
+            "held_grasp_world_z_skew": 0.0,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+                "beaker_b"
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+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32309901205585456,
+              -0.3792236690647777,
+              0.8470194017170432
+            ],
+            "target_position": [
+              0.31541409729249953,
+              -0.3812754822953104,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007954109155211603,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18726373236222832,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194017170432,
+            "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": 0.07573039525283144,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08538527617860302,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15526001972211464,
+            "release_required_pad_clearance": 0.05269263808930151,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.438792117773046,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008596360683441162,
+            "max_z_decrease": 0.008596360683441162,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500568400759067,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008596360683441162,
+            "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": 0.021040092646614515,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008596360683441162,
+            "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": 0.008596525526686057,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1711140275001526,
+              -0.43753695487976063,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1711140275001526,
+              -0.43753695487976063,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1712776652975969,
+              -0.4385949710487371,
+              0.8035888089965068
+            ],
+            "closest_button": [
+              0.17114394903182983,
+              -0.43751683831214894,
+              0.7685999870300293
+            ],
+            "closest_ee_minus_button": [
+              0.0001337162657670532,
+              -0.0010781327365881888,
+              0.03498882196647746
+            ],
+            "button_min_z_position": [
+              0.1711471676826477,
+              -0.43749529123306263,
+              0.7682124972343445
+            ],
+            "min_active_finger_to_button": 0.1455401258941643,
+            "closest_active_finger": [
+              0.030607134103775024,
+              -0.4215239882469177,
+              0.8108884692192078
+            ],
+            "closest_active_finger_button": [
+              0.17111630737781525,
+              -0.4375392198562621,
+              0.776499330997467
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14050917327404022,
+              0.01601523160934437,
+              0.03438913822174072
+            ],
+            "min_contact_pad_to_button": 0.021040092646614515,
+            "closest_contact_pad": [
+              0.1711471676826477,
+              -0.43982614717277235,
+              0.7891230832894134
+            ],
+            "closest_contact_pad_button": [
+              0.1711471676826477,
+              -0.43749529123306263,
+              0.7682124972343445
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023308559397097195,
+              0.020910586055068903
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bc7b17b682d1152c5569f3194313f293227f196fabf5b420881d2c14fdb03b3f",
+    "visual_seed": 8688350166844661061,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..013dffdbcc795c11ef8d8856b5b59dd3711e5ddb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_24_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3128609937043704,
+              0.29923372734799114,
+              1.0484730621201075
+            ],
+            "current_z": 1.0484730621201075,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19188655471154192,
+            "gripper_z": 1.0496583014348688,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3071439033029049,
+              0.29415502112908143,
+              1.0496583014348688
+            ],
+            "object_minus_gripper": [
+              0.005717090401465508,
+              0.005078706218909712,
+              -0.0011852393147613327
+            ],
+            "object_to_gripper_xy": 0.007647115764556021,
+            "object_to_gripper_z": -0.0011852393147613327,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3128609937043704,
+              0.27414355390529316,
+              1.0484730621201075
+            ],
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+            "closest_contact_pad": [
+              0.17624665796756744,
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+              0.7890510866754888
+            ],
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+              0.17624665796756744,
+              -0.43840137124061584,
+              0.768086850643158
+            ],
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+            "closest_contact_pad_minus_button": [
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+              0.0,
+              0.020964236032330885
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cdd0916876f46dd5c375f89b0566f399d3a1d961bdcdc8c958a4e4b744d05d58",
+    "visual_seed": 400543805960152207,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..add50257911fb6d9e84fde843ee894614df6f4f1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+          "skill": "pick",
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+              0.29338790315239743,
+              1.0496470164788423
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+              0.28086489409783844,
+              1.0496470164788423
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+              0.012523009054558998,
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+            "stable_success_frames": 227,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
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+          "metrics": {
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+        "post_done_wait_frames": 0,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32446588867058035,
+              -0.385388605084654,
+              0.8470196881650117
+            ],
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+              0.31634169487659586,
+              -0.3880364721465406,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008544806889546421,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18819920270564994,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196881650117,
+            "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": 0.07534624601251103,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08624777430055651,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1570611528967305,
+            "release_required_pad_clearance": 0.05312388715027826,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2722426968056268,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00875246524810791,
+            "max_z_decrease": 0.00875246524810791,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499747464483978,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00875246524810791,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02094508130992449,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00875246524810791,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008752723349887108,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17204162478446955,
+              -0.4442979395389557,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17204162478446955,
+              -0.4442979395389557,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17110400382476604,
+              -0.4449556862439395,
+              0.803587537171633
+            ],
+            "closest_button": [
+              0.17207339406013483,
+              -0.44427773356437683,
+              0.7686100602149963
+            ],
+            "closest_ee_minus_button": [
+              -0.0009693902353687944,
+              -0.0006779526795626656,
+              0.034977476956636666
+            ],
+            "button_min_z_position": [
+              0.17208541929721832,
+              -0.44424694776535034,
+              0.7680563926696777
+            ],
+            "min_active_finger_to_button": 0.14666610588782708,
+            "closest_active_finger": [
+              0.030356593430042267,
+              -0.42831307649612427,
+              0.8106955885887146
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+            "closest_active_finger_button": [
+              0.17204380035400385,
+              -0.44430074095726013,
+              0.7763433456420898
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14168720692396158,
+              0.015987664461135864,
+              0.034352242946624756
+            ],
+            "min_contact_pad_to_button": 0.02094508130992449,
+            "closest_contact_pad": [
+              0.17208541929721832,
+              -0.4461164594137188,
+              0.7889178728970241
+            ],
+            "closest_contact_pad_button": [
+              0.17208541929721832,
+              -0.44424694776535034,
+              0.7680563926696777
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018695116483684604,
+              0.020861480227346352
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2cd373a8817e6fbacde4a899d353919e471ab9a78a8212cdaa34893c025e6e66",
+    "visual_seed": 9197224173763726882,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c00b3e776965bc4b3fc71b6e66eae37233619af8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_26_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.319695701655886,
+              0.2966753510648543,
+              1.0184841465823664
+            ],
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+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.16189757956915607,
+            "gripper_z": 1.0487804017945048,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.313760618432263,
+              0.2908469113379353,
+              1.0487804017945048
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+              0.005935083223623017,
+              0.0058284397269190436,
+              -0.030296255212138412
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+            "object_to_gripper_z": -0.030296255212138412,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.319695701655886,
+              0.2709249295374275,
+              1.0352271837720524
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+            "finger_b": [
+              0.3072924821010255,
+              0.2966753510648543,
+              1.0352872124631085
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+            "finger_midpoint": [
+              0.3134940918784558,
+              0.28380014030114087,
+              1.0352571981175804
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+              0.006201609777430228,
+              0.012875210763713452,
+              -0.016773051535214023
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+            "finger_gap": 0.02858194653290766,
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+            "finger_z_skew": 6.00286910561465e-05,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.016773051535214023,
+            "finger_midpoint_minus_object_z": 0.016773051535214023,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.011174495616499799,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05229916159658761,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5680152669038128,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
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+  ],
+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
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+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3f3f7f97dd0fcb3033cde45d6e7cc1e214f29db6d68051ea7a20704499ed3697",
+    "visual_seed": 7981058068533943830,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
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+      6528445040825174555,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..145abb4e1df21ec63964a923573dd99bed21dbaa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_29_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.29542435316289267,
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+              0.28316677568375015,
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+              0.0,
+              1.0
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+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+              0.2934681278734949,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.2954103078903527,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008675098419189453,
+            "max_z_decrease": 0.008675098419189453,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504506160998927,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008675098419189453,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02092809730545986,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008675098419189453,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00867516414181097,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17818644642829895,
+              -0.44452500343322754,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17818644642829895,
+              -0.44452500343322754,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17685269637192186,
+              -0.44258525340318894,
+              0.8031018574105006
+            ],
+            "closest_button": [
+              0.17817467451095576,
+              -0.44449335336685175,
+              0.7681337594985962
+            ],
+            "closest_ee_minus_button": [
+              -0.001321978139033897,
+              0.0019080999636628126,
+              0.03496809791190436
+            ],
+            "button_min_z_position": [
+              0.17817467451095576,
+              -0.44449335336685175,
+              0.7681337594985962
+            ],
+            "min_active_finger_to_button": 0.1462791885940634,
+            "closest_active_finger": [
+              0.04933687299489975,
+              -0.5045738816261292,
+              0.8105461001396179
+            ],
+            "closest_active_finger_button": [
+              0.1781911104917526,
+              -0.44452896714210505,
+              0.7760671973228455
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12885423749685285,
+              -0.0600449144840241,
+              0.03447890281677246
+            ],
+            "min_contact_pad_to_button": 0.02092809730545986,
+            "closest_contact_pad": [
+              0.17817467451095576,
+              -0.44449335336685175,
+              0.789061856804056
+            ],
+            "closest_contact_pad_button": [
+              0.17817467451095576,
+              -0.44449335336685175,
+              0.7681337594985962
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02092809730545986
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a31f6cb183cd4ce2f46a05c1bd2686f0debd4ff17178d589b5a214eb2ef4d841",
+    "visual_seed": 2029360187875681184,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..242d1f7c92b726ee5c1f253232cd57307cf9fc08
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_2_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.315801860488953,
+              0.29517842614318657,
+              1.048094658712295
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+            "lift_margin": 0.19150821090837422,
+            "gripper_z": 1.0490644940763003,
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+            "gripper_position": [
+              0.30987236516772104,
+              0.289926041560187,
+              1.0490644940763003
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+              0.005929495321231937,
+              0.005252384582999592,
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+            "object_to_gripper_z": -0.0009698353640053003,
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+              0.315801860488953,
+              0.2700451286151474,
+              1.048094658712295
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+            "finger_b": [
+              0.30350130880211124,
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+              1.048094658712295
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+            "finger_midpoint": [
+              0.3096515846455321,
+              0.282611777379167,
+              1.048094658712295
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+              0.0061502758434208715,
+              0.012566648764019583,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04861166460164111,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.29354224662362094,
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+            "object_initial_z": 0.7730800627579277,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008007345620383561,
+            "max_held_gripper_dist": 0.008010055591004556,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010741211124511985,
+            "max_held_gripper_z_dist": 0.0012229794054074983,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08836732147591161,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.28548283695627696,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025359428527452068,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04521876069015529,
+              -0.9988900423705775,
+              0.01318889436429882
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004790434714758991,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+                "beaker_b"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "fr3_rightfinger",
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+                "gripper",
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+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "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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+                "link0",
+                "table",
+                "wheel",
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.33207277438414307,
+              -0.3776593428561802,
+              0.8470188669848948
+            ],
+            "target_position": [
+              0.322999338811064,
+              -0.38095867045573967,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009654677400515834,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18928121552334348,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470188669848948,
+            "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": 0.07563818623685609,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08730761192496138,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1575946424863614,
+            "release_required_pad_clearance": 0.05365380596248069,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3141494923331853,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008711695671081543,
+            "max_z_decrease": 0.008711695671081543,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03494257041715844,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008711695671081543,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020982258978416192,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008711695671081543,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008711817958794365,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17869926989078513,
+              -0.43722012639045715,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17869926989078513,
+              -0.43722012639045715,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17729016875118012,
+              -0.43696173587697107,
+              0.8035647365961367
+            ],
+            "closest_button": [
+              0.17873241007328028,
+              -0.4371972382068634,
+              0.7686527371406555
+            ],
+            "closest_ee_minus_button": [
+              -0.0014422413221001629,
+              0.00023550232989233422,
+              0.03491199945548118
+            ],
+            "button_min_z_position": [
+              0.17872399091720573,
+              -0.4371811449527741,
+              0.7680971622467041
+            ],
+            "min_active_finger_to_button": 0.14704564748118043,
+            "closest_active_finger": [
+              0.04974336922168732,
+              -0.4988800883293152,
+              0.8102422952651978
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+            "closest_active_finger_button": [
+              0.17870444059371943,
+              -0.43722429871559143,
+              0.7757455110549927
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1289610713720321,
+              -0.061655789613723755,
+              0.03449678421020508
+            ],
+            "min_contact_pad_to_button": 0.020982258978416192,
+            "closest_contact_pad": [
+              0.17873241007328028,
+              -0.4382526702208388,
+              0.789608434578374
+            ],
+            "closest_contact_pad_button": [
+              0.17873241007328028,
+              -0.4371972382068634,
+              0.7686527371406555
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010554320139753992,
+              0.020955697437718523
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "af225afa29ea4ce7b5f25b9f56e9ebb0fe6a6d757e99a5f09c37b2d6320dd17f",
+    "visual_seed": 6441640881732632570,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..31564b0876964b6a45764ac179c40a96c8c4a402
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31296328450939453,
+              0.2946929044424171,
+              1.049179532216827
+            ],
+            "current_z": 1.049179532216827,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.1925929055989718,
+            "gripper_z": 1.050100954409836,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30722722362251853,
+              0.28961543318968264,
+              1.050100954409836
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+              0.005736060886876004,
+              0.0050774712527344446,
+              -0.0009214221930091693
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+            "object_to_gripper_xy": 0.007660490116193182,
+            "object_to_gripper_z": -0.0009214221930091693,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31296328450939453,
+              0.26957759123181846,
+              1.049179532216827
+            ],
+            "finger_b": [
+              0.30107313938827535,
+              0.2946929044424171,
+              1.049179532216827
+            ],
+            "finger_midpoint": [
+              0.30701821194883494,
+              0.28213524783711774,
+              1.049179532216827
+            ],
+            "object_minus_finger_midpoint": [
+              0.005945072560559594,
+              0.012557656605299339,
+              0.0
+            ],
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+              0.03439342975616455
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+            "closest_contact_pad": [
+              0.17101623117923742,
+              -0.4371331639270394,
+              0.7892894241145825
+            ],
+            "closest_contact_pad_button": [
+              0.17101623117923742,
+              -0.43698355555534363,
+              0.7683333158493042
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00014960837169575303,
+              0.020956108265278273
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e1e4127a4643d1faad3500effd1a08ed481d3edd13cfbf31644f8bca429c448b",
+    "visual_seed": 6247099429166898106,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ab156e13254dc64c6b3cd3249f3bb568d26244b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_31_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.2959502949092345,
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+              0.2836055262175152,
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+            "stable_success_frames": 227,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.004001401417845805,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3318914050211356,
+              -0.38617315190934415,
+              0.8470195986727718
+            ],
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+              0.3235254320974303,
+              -0.3883676946875153,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008649018497228109,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18783308546898914,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195986727718,
+            "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": 0.07515157368035637,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08680730749004144,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15715023745005904,
+            "release_required_pad_clearance": 0.05340365374502072,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8221435460426765,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008841454982757568,
+            "max_z_decrease": 0.008841454982757568,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504183272430973,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008841454982757568,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02098298204339027,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008841454982757568,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008841832182850002,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17922535538673398,
+              -0.44462916254997253,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17922535538673398,
+              -0.44462916254997253,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18074295816197541,
+              -0.44486023037593,
+              0.8033477628888867
+            ],
+            "closest_button": [
+              0.17918293178081507,
+              -0.4445744454860687,
+              0.7683418393135071
+            ],
+            "closest_ee_minus_button": [
+              0.0015600263811603454,
+              -0.0002857848898612514,
+              0.03500592357537957
+            ],
+            "button_min_z_position": [
+              0.17917118966579434,
+              -0.44456803798675537,
+              0.7679674029350281
+            ],
+            "min_active_finger_to_button": 0.1443025149262371,
+            "closest_active_finger": [
+              0.039865151047706604,
+              -0.42998069524765015,
+              0.8090081810951233
+            ],
+            "closest_active_finger_button": [
+              0.17923070490360254,
+              -0.4446333050727844,
+              0.7745733261108398
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13936555385589594,
+              0.014652609825134277,
+              0.03443485498428345
+            ],
+            "min_contact_pad_to_button": 0.02098298204339027,
+            "closest_contact_pad": [
+              0.17917118966579434,
+              -0.4459153139476641,
+              0.7889070873385332
+            ],
+            "closest_contact_pad_button": [
+              0.17917118966579434,
+              -0.44456803798675537,
+              0.7679674029350281
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013472759609087226,
+              0.020939684403505132
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8dc7d99357eee976904f48ef40023bbceb283b2e07dc3668863ea3337865abc1",
+    "visual_seed": 8063572214790138767,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbc05572ab4e892256b646e1046e0a368cb6c81e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_32_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31670793794161956,
+              0.29378182157727917,
+              1.049840939027291
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+            "current_z": 1.049840939027291,
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+            "lift_margin": 0.19325419320014625,
+            "gripper_z": 1.0509382769942748,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3107661479627236,
+              0.2886103614699693,
+              1.0509382769942748
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+              0.005941789978895939,
+              0.005171460107309844,
+              -0.0010973379669838579
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+            "object_to_gripper_xy": 0.007877110370866042,
+            "object_to_gripper_z": -0.0010973379669838579,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31670793794161956,
+              0.2686080648980193,
+              1.049840939027291
+            ],
+            "finger_b": [
+              0.3045711342530346,
+              0.29378182157727917,
+              1.049840939027291
+            ],
+            "finger_midpoint": [
+              0.3106395360973271,
+              0.28119494323764926,
+              1.049840939027291
+            ],
+            "object_minus_finger_midpoint": [
+              0.00606840184429247,
+              0.012586878339629903,
+              0.0
+            ],
+            "finger_gap": 0.02794673557183074,
+            "fingertip_max_gap": 0.09250679822457122,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013973367785915345,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049840939027291,
+            "object_top_z": 1.0957794906396776,
+            "finger_top_clearance": 0.04593855161238669,
+            "fingertip_min_top_clearance": 0.013781565483715974,
+            "object_projection_between_fingers": 0.8113979177449857,
+            "object_to_finger_line_xy": 0.01093254495270436,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048753399112285614,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.079060702170121,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+      6528445040825174555,
+      3529294668470908039
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+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c8b831cd70148f414bea958183b2a06aba9ddf4e00fb8d77249bb94048acaa9",
+    "visual_seed": 6593401661854027722,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      4598593424619752825,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..64b8dd20c04cda15623f47333091bc77ab9cfb34
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_33_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+              0.2716567511028253,
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+              0.2842059426802345,
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+              0.3003765757489908,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_messages": {},
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "force_virtual_attach": false,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
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+            "max_placed_release_frames": 157
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "base_link",
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+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008758008480072021,
+            "max_z_decrease": 0.008758008480072021,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504374540724828,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008758008480072021,
+            "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": 0.021026664487434083,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008758008480072021,
+            "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": 0.008758327701018816,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17692983150482178,
+              -0.4451059103012084,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17692983150482178,
+              -0.4451059103012084,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17841399899937313,
+              -0.4456500590873636,
+              0.8034282959792979
+            ],
+            "closest_button": [
+              0.17689473927021027,
+              -0.4450556933879851,
+              0.768422544002533
+            ],
+            "closest_ee_minus_button": [
+              0.001519259729162864,
+              -0.0005943656993784852,
+              0.03500575197676492
+            ],
+            "button_min_z_position": [
+              0.17688047885894775,
+              -0.4450497329235076,
+              0.7680508494377136
+            ],
+            "min_active_finger_to_button": 0.144311757839807,
+            "closest_active_finger": [
+              0.03765902668237686,
+              -0.4296024739742279,
+              0.8086065649986267
+            ],
+            "closest_active_finger_button": [
+              0.1769360601902008,
+              -0.44511002302169794,
+              0.7741492390632629
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13927703350782394,
+              0.015507549047470037,
+              0.03445732593536377
+            ],
+            "min_contact_pad_to_button": 0.021026664487434083,
+            "closest_contact_pad": [
+              0.17688047885894775,
+              -0.44680788065884475,
+              0.7890038811039869
+            ],
+            "closest_contact_pad_button": [
+              0.17688047885894775,
+              -0.4450497329235076,
+              0.7680508494377136
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017581477353371677,
+              0.02095303166627327
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ef9bf25cfd46b31720cf50ef8c20663b331b5cebe91a5eb2bd16221ae240eeb3",
+    "visual_seed": 4081422318976627488,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..30ccdc7a4b3f77e0d48a0d0a9f7b91579dba059e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3151060758599025,
+              0.29479639066985164,
+              1.0497621355379088
+            ],
+            "current_z": 1.0497621355379088,
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+            "lift_margin": 0.19317550892005353,
+            "gripper_z": 1.050849504120937,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3091715113570378,
+              0.2895321182401182,
+              1.050849504120937
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+              0.005934564502864725,
+              0.00526427242973343,
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+            "object_to_gripper_xy": 0.007932945231949705,
+            "object_to_gripper_z": -0.0010873685830281588,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3151060758599025,
+              0.2697028765169728,
+              1.0497621355379088
+            ],
+            "finger_b": [
+              0.3027343874110582,
+              0.29479639066985164,
+              1.0497621355379088
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+            "finger_midpoint": [
+              0.3089202316354803,
+              0.2822496335934122,
+              1.0497621355379088
+            ],
+            "object_minus_finger_midpoint": [
+              0.006185844224422199,
+              0.01254675707643943,
+              0.0
+            ],
+            "finger_gap": 0.027977546847713437,
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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": 0.011096367414766958,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04883289898142944,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.238193052597368,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3147476344933403,
+              0.2932969886926306,
+              1.240324806494934
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+            "held_position": [
+              0.32100199904904214,
+              0.2981803596177793,
+              1.2391470947835632
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008021931965761522,
+            "max_held_gripper_dist": 0.00802423578986933,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011777117113707103,
+            "max_held_gripper_z_dist": 0.0013274909401261858,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0884057394392701,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.32100199904904214,
+              0.27234518691835474,
+              1.2391470947835632
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+              0.3155780397769714,
+              0.28526277326806704,
+              1.2391470947835632
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+            "held_grasp_object_position": [
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+              0.2981803596177793,
+              1.2391470947835632
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+            "held_grasp_finger_gap": 0.02802023349562634,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02537124515202067,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.040573804064925154,
+              -0.9990793084235071,
+              0.01393922177555085
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0048987440628782495,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03207446106827817,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3229788648634738,
+              -0.3847260129222341,
+              0.8470197793831801
+            ],
+            "target_position": [
+              0.3143789294950556,
+              -0.3874992019031436,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00903600937719793,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.188457286024393,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197793831801,
+            "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": 0.07523413161915979,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08573472480225523,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15770192054708565,
+            "release_required_pad_clearance": 0.05286736240112762,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7763165523699521,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008752703666687012,
+            "max_z_decrease": 0.008752703666687012,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035032636137699025,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008752703666687012,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020950790027178093,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008752703666687012,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00875291225555888,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1700788587331771,
+              -0.4437606632709503,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1700788587331771,
+              -0.4437606632709503,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17147650572070677,
+              -0.44458535791231113,
+              0.8036255748068373
+            ],
+            "closest_button": [
+              0.17011362314224235,
+              -0.44373008608818054,
+              0.7686299085617065
+            ],
+            "closest_ee_minus_button": [
+              0.001362882578464425,
+              -0.0008552718241305879,
+              0.03499566624513073
+            ],
+            "button_min_z_position": [
+              0.17010518908500666,
+              -0.4437062740325928,
+              0.7680561542510986
+            ],
+            "min_active_finger_to_button": 0.14438020995726392,
+            "closest_active_finger": [
+              0.030459292232990265,
+              -0.43040961027145386,
+              0.8106359243392944
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+            "closest_active_finger_button": [
+              0.17007949948310846,
+              -0.4437620937824249,
+              0.7763787508010864
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1396202072501182,
+              0.01335248351097107,
+              0.03425717353820801
+            ],
+            "min_contact_pad_to_button": 0.020950790027178093,
+            "closest_contact_pad": [
+              0.17010518908500666,
+              -0.4456051470548934,
+              0.7889207147307273
+            ],
+            "closest_contact_pad_button": [
+              0.17010518908500666,
+              -0.4437062740325928,
+              0.7680561542510986
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001898873022300629,
+              0.020864560479628702
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "004bef0b51d3e9b6eac023e3d111ca9723a438eb1728eb4846c1e42458dd9e0b",
+    "visual_seed": 7708687197085259316,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb35f4f75183ba89f5e382742a0a1efcbabe2316
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_35_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30874244597846545,
+              0.29448997771808,
+              1.0506829331194723
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+            "current_z": 1.0506829331194723,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19409648531555146,
+            "gripper_z": 1.0504585123260135,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30338179504187296,
+              0.28945022921422253,
+              1.0504585123260135
+            ],
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+              0.005360650936592493,
+              0.005039748503857466,
+              0.0002244207934587461
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+            "object_to_gripper_xy": 0.007357692807268019,
+            "object_to_gripper_z": 0.0002244207934587461,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30874244597846545,
+              0.269894118606735,
+              1.0506829331194723
+            ],
+            "finger_b": [
+              0.2965782200030571,
+              0.29448997771808,
+              1.0506829331194723
+            ],
+            "finger_midpoint": [
+              0.3026603329907613,
+              0.2821920481624075,
+              1.0506829331194723
+            ],
+            "object_minus_finger_midpoint": [
+              0.006082112987704169,
+              0.012297929555672493,
+              0.0
+            ],
+            "finger_gap": 0.02743947300889598,
+            "fingertip_max_gap": 0.09048998523938159,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01371973650444799,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0506829331194723,
+            "object_top_z": 1.0960817488884518,
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+              -0.44135424494743347,
+              0.7680850028991699
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010326833597246177,
+              0.02089706923570689
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ae409f5b7c265dccae1a8333038ac863ff36f734f760387d8d71eb97109d0d85",
+    "visual_seed": 3306687038703520894,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..53ea80d5bb8f2b5a9a3a8502b132675ef0c60e39
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_36_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "object_position": [
+              0.3112921974345574,
+              0.2977574329082923,
+              1.048795360721072
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.29250449690779234,
+              1.0499164437636552
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+              0.005252936000499975,
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+            "object_to_gripper_z": -0.001121083042583182,
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+              0.27261490530242843,
+              1.048795360721072
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+              0.2977574329082923,
+              1.048795360721072
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+              0.2851861691053604,
+              1.048795360721072
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875442303189752,
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+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                },
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+              ],
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+          }
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008028692028320523,
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+            "max_held_gripper_z_dist": 0.0013661916555021136,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08861584412342774,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2881884107403451,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9990918171381377,
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+            "held_grasp_object_to_finger_line_xy": 0.004907512533785032,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_object": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
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+            "xy_dist": 0.00969336334337773,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18656316891352967,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199999609637,
+            "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": 0.07520881019802197,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08619316601278225,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1559750488416626,
+            "release_required_pad_clearance": 0.053096583006391126,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2194707664868303,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008653223514556885,
+            "max_z_decrease": 0.008653223514556885,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504429338673621,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008653223514556885,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.0211804657998846,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008653223514556885,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00865338529268701,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17106057703495026,
+              -0.4391348659992218,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17106057703495026,
+              -0.4391348659992218,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1718569532776263,
+              -0.44085047831492424,
+              0.8031464134498791
+            ],
+            "closest_button": [
+              0.17106819152832028,
+              -0.4390825033187866,
+              0.7681556344032288
+            ],
+            "closest_ee_minus_button": [
+              0.0007887617493060051,
+              -0.0017679749961376223,
+              0.03499077904665038
+            ],
+            "button_min_z_position": [
+              0.17106819152832028,
+              -0.4390825033187866,
+              0.7681556344032288
+            ],
+            "min_active_finger_to_button": 0.14483635421070418,
+            "closest_active_finger": [
+              0.031305477023124695,
+              -0.4231005012989044,
+              0.8096857666969299
+            ],
+            "closest_active_finger_button": [
+              0.17106541991233826,
+              -0.4391381740570068,
+              0.7752253413200378
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13975994288921356,
+              0.01603767275810236,
+              0.03446042537689209
+            ],
+            "min_contact_pad_to_button": 0.0211804657998846,
+            "closest_contact_pad": [
+              0.17106819152832028,
+              -0.44217278550563155,
+              0.7891094476004907
+            ],
+            "closest_contact_pad_button": [
+              0.17106819152832028,
+              -0.4390825033187866,
+              0.7681556344032288
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003090282186844928,
+              0.020953813197261972
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "078c4ddc005df1d6a6ef36680ea2ec135bd0671423f94485a108dc72d76157a9",
+    "visual_seed": 7764073016644733684,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..741b909fdcff419debe031a50453b0d6a399aad5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_37_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3095714133892277,
+              0.29428485582952196,
+              1.0485055295741614
+            ],
+            "current_z": 1.0485055295741614,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.19191896256095098,
+            "gripper_z": 1.0483557188060102,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30374595604626686,
+              0.2891273096366428,
+              1.0483557188060102
+            ],
+            "object_minus_gripper": [
+              0.00582545734296086,
+              0.00515754619287917,
+              0.00014981076815123728
+            ],
+            "object_to_gripper_xy": 0.007780503581795913,
+            "object_to_gripper_z": 0.00014981076815123728,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3095714133892277,
+              0.26922451065758846,
+              1.0485055295741614
+            ],
+            "finger_b": [
+              0.2974082596393475,
+              0.29428485582952196,
+              1.0485055295741614
+            ],
+            "finger_midpoint": [
+              0.3034898365142876,
+              0.28175468324355524,
+              1.0485055295741614
+            ],
+            "object_minus_finger_midpoint": [
+              0.006081576874940098,
+              0.012530172585966726,
+              0.0
+            ],
+            "finger_gap": 0.02785611619159562,
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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": 1.0485055295741614,
+            "object_top_z": 1.0953940499382242,
+            "finger_top_clearance": 0.04688852036406277,
+            "fingertip_min_top_clearance": 0.01406655610921883,
+            "object_projection_between_fingers": 0.8093436552480896,
+            "object_to_finger_line_xy": 0.010942402352674671,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04977209432528697,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7114942076508153,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "952f594a80de3899cdce8b6b5d03b6715a74bc2a5d33708ebc18fc760cd0a68b",
+    "visual_seed": 8627050496037767184,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..880e04943a5b8bf8c1a58f84fcd80a515c983800
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_38_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.2959652402056725,
+              1.046940152591714
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+            "gripper_z": 1.0476892192669593,
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+            "gripper_position": [
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+              0.290755039269802,
+              1.0476892192669593
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+              0.00521020093587049,
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+            "object_to_gripper_z": -0.0007490666752454356,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3147361579807921,
+              0.27073779647826657,
+              1.046940152591714
+            ],
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+              0.2959652402056725,
+              1.046940152591714
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+              0.28335151834196953,
+              1.046940152591714
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+              0.012613721863702965,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2946914702335077,
+              1.2351931771443179
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+              0.299586878815166,
+              1.2343284879430445
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008011079790659317,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008646892012733609,
+            "max_held_gripper_z_dist": 0.0010167120209190195,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+              0.28669325781731103,
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+              0.299586878815166,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02536422594136227,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.999189840442479,
+              0.016088854722479895
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15743342386819523,
+            "release_required_pad_clearance": 0.05338779996435135,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.7891990150266934,
+            "object_max_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",
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+            "source_missing": false,
+            "forbidden": [],
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+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008757829666137695,
+            "max_z_decrease": 0.008757829666137695,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034948608164562044,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008757829666137695,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02092721217412615,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008757829666137695,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008758041362913364,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17892028391361234,
+              -0.43871134519577026,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17892028391361234,
+              -0.43871134519577026,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1776860733874991,
+              -0.4378779118052664,
+              0.8035644864388172
+            ],
+            "closest_button": [
+              0.17895843088626862,
+              -0.4386932253837585,
+              0.7686485648155212
+            ],
+            "closest_ee_minus_button": [
+              -0.0012723574987695274,
+              0.0008153135784920718,
+              0.03491592162329593
+            ],
+            "button_min_z_position": [
+              0.17896570265293116,
+              -0.4386707842350006,
+              0.768051028251648
+            ],
+            "min_active_finger_to_button": 0.14665765292417673,
+            "closest_active_finger": [
+              0.0502861812710762,
+              -0.5001332759857178,
+              0.8107669949531555
+            ],
+            "closest_active_finger_button": [
+              0.17892502248287198,
+              -0.4387154579162597,
+              0.7762942910194397
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12863884121179578,
+              -0.06141781806945806,
+              0.03447270393371582
+            ],
+            "min_contact_pad_to_button": 0.02092721217412615,
+            "closest_contact_pad": [
+              0.17896570265293116,
+              -0.4390337896001296,
+              0.7889750918265318
+            ],
+            "closest_contact_pad_button": [
+              0.17896570265293116,
+              -0.4386707842350006,
+              0.768051028251648
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00036300536512900994,
+              0.020924063574883855
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "015e3a0af145df4a3664a63d8a796e85fefd48992366125d73782a3d5042490f",
+    "visual_seed": 6828650046499068557,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbed6097ef054c2f201463a3f857f2a963d9ef06
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3172852180280639,
+              0.2963375717050098,
+              1.0484328500528581
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+            "lift_margin": 0.19184634264429257,
+            "gripper_z": 1.0480339752260832,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3117599112617031,
+              0.29110449001786903,
+              1.0480339752260832
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+              0.005525306766360816,
+              0.0052330816871407615,
+              0.0003988748267749198
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+            "object_to_gripper_z": 0.0003988748267749198,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3172852180280639,
+              0.27177010706450416,
+              1.0484328500528581
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+            "finger_b": [
+              0.30465988710972125,
+              0.2963375717050098,
+              1.0484328500528581
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+            "finger_midpoint": [
+              0.31097255256889256,
+              0.284053839384757,
+              1.0484328500528581
+            ],
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+              0.006312665459171363,
+              0.012283732320252816,
+              0.0
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+            "finger_gap": 0.027621717898424672,
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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": 0.7910780026291564,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04847076713807637,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3174559570345218,
+              0.294640088630647,
+              1.2376913454114238
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+            "held_position": [
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+              0.2993574798232325,
+              1.2379805790842704
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076198404808152775,
+            "max_held_gripper_dist": 0.0076211705037117616,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002892336728466116,
+            "max_held_gripper_z_dist": 0.0004092972711424725,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08846142570680082,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.27361025158122265,
+              1.2379805790842704
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+              0.2864838657022276,
+              1.2379805790842704
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+            "held_grasp_object_position": [
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+              0.2993574798232325,
+              1.2379805790842704
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+            "held_grasp_finger_gap": 0.027768417571529366,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02471754527364634,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08869309864969376,
+              -0.9958344119426653,
+              0.021150844964720306
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004047331665118969,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32870777523647304,
+              -0.3856675975852077,
+              0.8470191899549482
+            ],
+            "target_position": [
+              0.32159294526098037,
+              -0.38760780563927005,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007374633067022221,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18664420569047663,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191899549482,
+            "min_z": 0.5730800627579278,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573805194973815,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08534160940730166,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1546345029581066,
+            "release_required_pad_clearance": 0.052670804703650834,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3976195678918902,
+            "object_max_tilt_deg": 12.0,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00868237018585205,
+            "max_z_decrease": 0.00868237018585205,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500488828166764,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00868237018585205,
+            "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": 0.020936988842733685,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00868237018585205,
+            "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": 0.008682540753259882,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1772928684949874,
+              -0.4438692629337311,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1772928684949874,
+              -0.4438692629337311,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1773816534116322,
+              -0.44280253529598407,
+              0.8031163464446908
+            ],
+            "closest_button": [
+              0.17732682824134816,
+              -0.44382673501968384,
+              0.7681264877319336
+            ],
+            "closest_ee_minus_button": [
+              5.482517028404521e-05,
+              0.0010241997236997702,
+              0.03498985871275717
+            ],
+            "button_min_z_position": [
+              0.17732682824134816,
+              -0.44382673501968384,
+              0.7681264877319336
+            ],
+            "min_active_finger_to_button": 0.14533048258037448,
+            "closest_active_finger": [
+              0.05029028654098511,
+              -0.5055884718894958,
+              0.8103846311569214
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+            "closest_active_finger_button": [
+              0.17729590833187095,
+              -0.443872183561325,
+              0.7760099172592163
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12700562179088584,
+              -0.06171628832817083,
+              0.03437471389770508
+            ],
+            "min_contact_pad_to_button": 0.020936988842733685,
+            "closest_contact_pad": [
+              0.17732682824134816,
+              -0.4439996686057008,
+              0.7890627623713145
+            ],
+            "closest_contact_pad_button": [
+              0.17732682824134816,
+              -0.44382673501968384,
+              0.7681264877319336
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00017293358601694342,
+              0.02093627463938086
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "73e23d4c861d9ed22516b18b084dc0138238bfa0b54348b9c17067f907ab1ca3",
+    "visual_seed": 6895053179184020613,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d4cf117793123c429ba53df46731c40f1217df1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_3_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.2978771371130566,
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+            "lift_margin": 0.19394427327525487,
+            "gripper_z": 1.0506980086078774,
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+            "gripper_position": [
+              0.3038619328685025,
+              0.29285963000536547,
+              1.0506980086078774
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+              0.005410237091039438,
+              0.00501750710769111,
+              -0.00016710871476743883
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+            "object_to_gripper_z": -0.00016710871476743883,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
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+              0.2731899285796491,
+              1.05053089989311
+            ],
+            "finger_b": [
+              0.2972138113926367,
+              0.2978771371130566,
+              1.05053089989311
+            ],
+            "finger_midpoint": [
+              0.3032429906760893,
+              0.28553353284635286,
+              1.05053089989311
+            ],
+            "object_minus_finger_midpoint": [
+              0.006029179283452646,
+              0.012343604266703723,
+              0.0
+            ],
+            "finger_gap": 0.027474757078089062,
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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": 1.096209208550218,
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+            "object_projection_between_fingers": 0.8073767681142615,
+            "object_to_finger_line_xy": 0.010834935197632489,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0479779657597907,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.25120283766993806,
+            "object_max_tilt_deg": 15.0,
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+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6a0e33e0489f19cb8b0bc84eead76c38ad33d45dbafc98241e1214f0a349121e",
+    "visual_seed": 8178183404579265896,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..80c777d265eccd3e77dc2a3e35b1f21cef470e40
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_41_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.3001662632053714,
+              1.0501239902717066
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+              0.2950799283168763,
+              1.0499936758383752
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+              0.005086334888495081,
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+              0.27572552322130445,
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+              0.2879458932133379,
+              1.0501239902717066
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
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+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.30207655738174705,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 1.9645953679425787e-06,
+            "max_held_gripper_z_dist": 0.00014383367091985733,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.30207655738174705,
+              1.2383191070063335
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+            "held_grasp_z_skew": 0.024745227670652074,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.003456877299377586,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08577526259617023,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15508501705554598,
+            "release_required_pad_clearance": 0.05288763129808512,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8156485217946636,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008523643016815186,
+            "max_z_decrease": 0.008523643016815186,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500544086250271,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008523643016815186,
+            "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": 0.02088679783173464,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008523643016815186,
+            "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": 0.008523702547802872,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17116406559944153,
+              -0.43633133172988886,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17116406559944153,
+              -0.43633133172988886,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17161080875818024,
+              -0.4359229946036143,
+              0.8036508793844112
+            ],
+            "closest_button": [
+              0.17116440832614901,
+              -0.4362979531288147,
+              0.7686502933502197
+            ],
+            "closest_ee_minus_button": [
+              0.0004464004320312298,
+              0.0003749585252004195,
+              0.03500058603419143
+            ],
+            "button_min_z_position": [
+              0.17115779221057892,
+              -0.4363000988960266,
+              0.7682852149009705
+            ],
+            "min_active_finger_to_button": 0.14523111280809342,
+            "closest_active_finger": [
+              0.04526261240243912,
+              -0.5001410841941833,
+              0.8107813000679016
+            ],
+            "closest_active_finger_button": [
+              0.17116574943065643,
+              -0.43633341789245605,
+              0.7765898108482361
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12590313702821732,
+              -0.0638076663017273,
+              0.03419148921966553
+            ],
+            "min_contact_pad_to_button": 0.02088679783173464,
+            "closest_contact_pad": [
+              0.17115779221057892,
+              -0.4369672482478591,
+              0.7891613552388324
+            ],
+            "closest_contact_pad_button": [
+              0.17115779221057892,
+              -0.4363000988960266,
+              0.7682852149009705
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006671493518324856,
+              0.020876140337861893
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7cfc1964cef8dc61c03748be5c981b728906deec660b852125f3aa0ffcf0f0cb",
+    "visual_seed": 5444853612012792336,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..10aae11dc319731e9974f532e6cf09f792b2deb7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_42_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3152963801598823,
+              0.2963145362554706,
+              1.0488205939752848
+            ],
+            "current_z": 1.0488205939752848,
+            "required_z": 0.8565866862224999,
+            "initial_z": 0.7565866862224999,
+            "lift_margin": 0.19223390775278493,
+            "gripper_z": 1.0488889522410751,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30979441466764884,
+              0.29127388126465725,
+              1.0488889522410751
+            ],
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+              0.005501965492233474,
+              0.0050406549908133536,
+              -6.835826579032478e-05
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+            "object_to_gripper_xy": 0.007461891651192712,
+            "object_to_gripper_z": -6.835826579032478e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3152963801598823,
+              0.2715992076868506,
+              1.0488205939752848
+            ],
+            "finger_b": [
+              0.30312751176757824,
+              0.2963145362554706,
+              1.0488205939752848
+            ],
+            "finger_midpoint": [
+              0.30921194596373025,
+              0.2839568719711606,
+              1.0488205939752848
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060844341961520665,
+              0.01235766428431001,
+              0.0
+            ],
+            "finger_gap": 0.027548662838767005,
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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",
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+            "object_top_z": 1.0951648607084712,
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+            "object_projection_between_fingers": 0.8048810992196538,
+            "object_to_finger_line_xy": 0.010917320466126508,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486012795728024,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8031761551688914,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bcea9c1f2b98bf96c31e049e90e1faa9bce9966
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_43_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              1.0481547745995503
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+              0.0050006165624211785,
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+              0.26904992535749206,
+              1.0481547745995503
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+              0.2814153688379436,
+              1.0481547745995503
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+              0.012365443480451599,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
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+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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+          }
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.2918509397896798,
+              1.2375559006899495
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+              0.29642643601778523,
+              1.2376436114012392
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 8.771071128976793e-05,
+            "max_held_gripper_z_dist": 0.0002051087039813826,
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+              0.2707363405213674,
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+              0.28358138826957635,
+              1.2376436114012392
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+              0.29642643601778523,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9967300930371709,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 1.304442063150885,
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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",
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+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+              ],
+              "enabled": true
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+            "forbidden": [],
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+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008839190006256104,
+            "max_z_decrease": 0.008839190006256104,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499782825903104,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008839190006256104,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02084961909452079,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008839190006256104,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008839385559212641,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1750174760818481,
+              -0.4445192515850067,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1750174760818481,
+              -0.4445192515850067,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1745069481711323,
+              -0.44381295997520653,
+              0.80333194201512
+            ],
+            "closest_button": [
+              0.1750004738569259,
+              -0.44445955753326416,
+              0.7683435678482056
+            ],
+            "closest_ee_minus_button": [
+              -0.000493525685793611,
+              0.0006465975580576266,
+              0.03498837416691447
+            ],
+            "button_min_z_position": [
+              0.17499795556068418,
+              -0.4444637894630432,
+              0.7679696679115295
+            ],
+            "min_active_finger_to_button": 0.14594953416629133,
+            "closest_active_finger": [
+              0.04852316528558731,
+              -0.5088047385215759,
+              0.810384213924408
+            ],
+            "closest_active_finger_button": [
+              0.1750176846981048,
+              -0.44452035427093506,
+              0.7762093544006348
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1264945194125175,
+              -0.06428438425064087,
+              0.03417485952377319
+            ],
+            "min_contact_pad_to_button": 0.02084961909452079,
+            "closest_contact_pad": [
+              0.17499795556068418,
+              -0.44477723844624967,
+              0.7888169307083941
+            ],
+            "closest_contact_pad_button": [
+              0.17499795556068418,
+              -0.4444637894630432,
+              0.7679696679115295
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00031344898320645465,
+              0.020847262796864552
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0a3bd4cea287f8a47808cb23638382663738e2a925dcebe30b519802564c0b5b",
+    "visual_seed": 8619930272317401552,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..881eeb0544df0767fb3ae934652f76ba9be5a64a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_45_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3154766133830664,
+              0.2929665582107001,
+              1.049323264989091
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+            "gripper_z": 1.0505461670128704,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30971892412027857,
+              0.2878578472621579,
+              1.0505461670128704
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+              0.005757689262787802,
+              0.0051087109485422055,
+              -0.001222902023779504
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+            "object_to_gripper_xy": 0.007697396521069766,
+            "object_to_gripper_z": -0.001222902023779504,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3154766133830664,
+              0.2678708960304501,
+              1.049323264989091
+            ],
+            "finger_b": [
+              0.3034962225883636,
+              0.2929665582107001,
+              1.049323264989091
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+            "finger_midpoint": [
+              0.30948641798571497,
+              0.28041872712057514,
+              1.049323264989091
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+            "object_minus_finger_midpoint": [
+              0.0059901953973514055,
+              0.012547831090124972,
+              0.0
+            ],
+            "finger_gap": 0.02780866814248803,
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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": 0.010811587186797821,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866569050101953,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2026411188124022,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
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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_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.29151437152537585,
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+              0.2962824743479428,
+              1.238838775935637
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007793596592743933,
+            "max_held_gripper_dist": 0.007795564682708235,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013127274761595142,
+            "max_held_gripper_z_dist": 0.0014573404164273107,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08849845953494861,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.27053486203019944,
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+              0.2834086681890711,
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+            "held_grasp_object_position": [
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+              0.2962824743479428,
+              1.238838775935637
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+            "held_grasp_finger_gap": 0.027833543997808127,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025362888008730423,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03475829141316306,
+              -0.9993296248067568,
+              0.011496180305838767
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004837618146208356,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
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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",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.32269649311290877,
+              -0.38251004550450934,
+              0.8470194810744106
+            ],
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+              0.3143367044189889,
+              -0.3854873135003298,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008874130477175028,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18629428989024818,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194810744106,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.08781328976333024,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15408391073695032,
+            "release_required_pad_clearance": 0.05390664488166512,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8227833538429805,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008595049381256104,
+            "max_z_decrease": 0.008595049381256104,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508560714146538,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008595049381256104,
+            "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": 0.020858911070115838,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008595049381256104,
+            "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": 0.00859513099784792,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17003662884235382,
+              -0.4417487680912018,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17003662884235382,
+              -0.4417487680912018,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17134392864098746,
+              -0.43976260192828764,
+              0.8032210600243342
+            ],
+            "closest_button": [
+              0.17004291713237762,
+              -0.44171184301376337,
+              0.7682138085365295
+            ],
+            "closest_ee_minus_button": [
+              0.0013010115086098395,
+              0.001949241085475728,
+              0.0350072514878047
+            ],
+            "button_min_z_position": [
+              0.17004291713237762,
+              -0.44171184301376337,
+              0.7682138085365295
+            ],
+            "min_active_finger_to_button": 0.14378430180659826,
+            "closest_active_finger": [
+              0.045512743294239044,
+              -0.5050087571144104,
+              0.8107200264930725
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+            "closest_active_finger_button": [
+              0.1700366735458374,
+              -0.4417492747306823,
+              0.7765739560127258
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12452393025159836,
+              -0.06325948238372808,
+              0.03414607048034668
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+            "min_contact_pad_to_button": 0.020858911070115838,
+            "closest_contact_pad": [
+              0.17004291713237762,
+              -0.44171184301376337,
+              0.7890727196066454
+            ],
+            "closest_contact_pad_button": [
+              0.17004291713237762,
+              -0.44171184301376337,
+              0.7682138085365295
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020858911070115838
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a252356a62119ce9bd71eaf7404a530f628f412d85ea9792878e9519fc625cfb",
+    "visual_seed": 925239161783548239,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..52285edd5c9089f052c61449aa3879a7e26d5c05
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.29510029073649735,
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+            "gripper_z": 1.0484660938247516,
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+              0.2900755973395842,
+              1.0484660938247516
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+              0.005024693396913138,
+              0.0002025522501265531
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+            "object_to_gripper_z": 0.0002025522501265531,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.27048140328437453,
+              1.0486686460748782
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+            "finger_b": [
+              0.2975782820162696,
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+              1.0486686460748782
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+            "finger_midpoint": [
+              0.30363758625901355,
+              0.28279084701043594,
+              1.0486686460748782
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+            "object_minus_finger_midpoint": [
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+              0.012309443726061409,
+              0.0
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8247499623710367,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4a89c57c6135accac9277e9452f536c5e91458a0dc91234f25261250638b39d0",
+    "visual_seed": 2636310361048684198,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5cf656b9166b09271aa472dcfa1c057f38f002a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_47_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.29990073964381236,
+              1.0470684970096484
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+            "gripper_position": [
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+              0.28732803585153055,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15586943618109747,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z_margin": 0.1,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008550524711608887,
+            "max_z_decrease": 0.008550524711608887,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499190186925694,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008550524711608887,
+            "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": 0.020919179685467124,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008550524711608887,
+            "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": 0.008550690239022517,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1703307926654816,
+              -0.4384010732173919,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1703307926654816,
+              -0.4384010732173919,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17053367533897,
+              -0.43871825980043444,
+              0.8035871514541989
+            ],
+            "closest_button": [
+              0.17036361992359167,
+              -0.43837317824363703,
+              0.7685973644256592
+            ],
+            "closest_ee_minus_button": [
+              0.00017005541537831736,
+              -0.0003450815567974108,
+              0.03498978702853972
+            ],
+            "button_min_z_position": [
+              0.17036722600460055,
+              -0.43836230039596547,
+              0.7682583332061768
+            ],
+            "min_active_finger_to_button": 0.14554683869733584,
+            "closest_active_finger": [
+              0.029645919799804688,
+              -0.4236898422241211,
+              0.8108675479888916
+            ],
+            "closest_active_finger_button": [
+              0.17033179104328158,
+              -0.4384026229381561,
+              0.7765907049179077
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1406858712434769,
+              0.014712780714034979,
+              0.03427684307098389
+            ],
+            "min_contact_pad_to_button": 0.020919179685467124,
+            "closest_contact_pad": [
+              0.17036722600460055,
+              -0.4398071937316066,
+              0.789127553650685
+            ],
+            "closest_contact_pad_button": [
+              0.17036722600460055,
+              -0.43836230039596547,
+              0.7682583332061768
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014448933356411287,
+              0.02086922044450823
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8bb5d94c536228b6e7f6227a1594dfae812cb867eec6d7cbf7a25a71a0208a9f",
+    "visual_seed": 341333067323854169,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cc7772dd3c2892f1f154f659f5251b91655ee01
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_48_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31770093409099237,
+              0.29201565975020577,
+              1.0492266385765443
+            ],
+            "current_z": 1.0492266385765443,
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+            "lift_margin": 0.19264013116797873,
+            "gripper_z": 1.0492717833947238,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31216334181694294,
+              0.28688043038899924,
+              1.0492717833947238
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+              0.00553759227404943,
+              0.005135229361206528,
+              -4.5144818179521096e-05
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+            "object_to_gripper_xy": 0.007552185695929989,
+            "object_to_gripper_z": -4.5144818179521096e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31770093409099237,
+              0.26730477124803664,
+              1.0492266385765443
+            ],
+            "finger_b": [
+              0.30538153561655806,
+              0.29201565975020577,
+              1.0492266385765443
+            ],
+            "finger_midpoint": [
+              0.3115412348537752,
+              0.27966021549912123,
+              1.0492266385765443
+            ],
+            "object_minus_finger_midpoint": [
+              0.006159699237217153,
+              0.012355444251084535,
+              0.0
+            ],
+            "finger_gap": 0.027611511898817286,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.011025230462971465,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048303656017511035,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6111873266570019,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3179376207906661,
+              0.28996410994204347,
+              1.237300037747695
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+            "held_position": [
+              0.3238810142880583,
+              0.29462385586706247,
+              1.2371317702072984
+            ],
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint1",
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+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
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+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
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+                "workbench"
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+            "forbidden": [],
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+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32146872412211525,
+              -0.3774925111196793,
+              0.8470195795220887
+            ],
+            "target_position": [
+              0.3142426902986454,
+              -0.3792650091871062,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00744024960716794,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18515842028807136,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195795220887,
+            "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": 0.07563338089754369,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08540549503538018,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15329952150572693,
+            "release_required_pad_clearance": 0.05270274751769009,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.459700320293839,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008691787719726562,
+            "max_z_decrease": 0.008691787719726562,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350085732912684,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008691787719726562,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020922744301675424,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008691787719726562,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00869191637756736,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1699426174163818,
+              -0.4355264604091644,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1699426174163818,
+              -0.4355264604091644,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16846943414082827,
+              -0.4353967435866909,
+              0.8034681366646508
+            ],
+            "closest_button": [
+              0.1699317395687103,
+              -0.4354707896709442,
+              0.768490195274353
+            ],
+            "closest_ee_minus_button": [
+              -0.0014623054278820324,
+              7.404608425332082e-05,
+              0.03497794139029775
+            ],
+            "button_min_z_position": [
+              0.16993479430675504,
+              -0.43547981977462763,
+              0.7681170701980591
+            ],
+            "min_active_finger_to_button": 0.14706266215232247,
+            "closest_active_finger": [
+              0.04090109467506409,
+              -0.49718719720840454,
+              0.8103731870651245
+            ],
+            "closest_active_finger_button": [
+              0.16994132101535792,
+              -0.4355306923389434,
+              0.7761018872261047
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12904022634029383,
+              -0.061656504869461115,
+              0.034271299839019775
+            ],
+            "min_contact_pad_to_button": 0.020922744301675424,
+            "closest_contact_pad": [
+              0.16993479430675504,
+              -0.43667430107316607,
+              0.7890056901510558
+            ],
+            "closest_contact_pad_button": [
+              0.16993479430675504,
+              -0.43547981977462763,
+              0.7681170701980591
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011944812985384412,
+              0.020888619952996734
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e45160ed8e3582f695a1026b104e276faf2429db537b9584d03ba17b1fd2f34",
+    "visual_seed": 2287891462684515633,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..57c3d8b4528d8d7396117cac9dd735280ddc5e87
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_49_success.json
@@ -0,0 +1,926 @@
+{
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498862269828556,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008733510971069336,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020838120970623118,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008733510971069336,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008733810351606665,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17120225727558136,
+              -0.43743240833282465,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17120225727558136,
+              -0.43743240833282465,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16934645459410455,
+              -0.43714736222871153,
+              0.8033873848246793
+            ],
+            "closest_button": [
+              0.1712736189365387,
+              -0.4374045729637145,
+              0.7684528231620789
+            ],
+            "closest_ee_minus_button": [
+              -0.0019271643424341456,
+              0.0002572107350029551,
+              0.03493456166260045
+            ],
+            "button_min_z_position": [
+              0.17126552760601044,
+              -0.4373973906040191,
+              0.7680753469467163
+            ],
+            "min_active_finger_to_button": 0.14727776236968357,
+            "closest_active_finger": [
+              0.042963236570358276,
+              -0.5012843012809753,
+              0.8109027743339539
+            ],
+            "closest_active_finger_button": [
+              0.17120766639709473,
+              -0.43743559718132013,
+              0.7767348289489746
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12824442982673645,
+              -0.0638487040996552,
+              0.03416794538497925
+            ],
+            "min_contact_pad_to_button": 0.020838120970623118,
+            "closest_contact_pad": [
+              0.17126552760601044,
+              -0.4381713491444414,
+              0.7888990899763455
+            ],
+            "closest_contact_pad_button": [
+              0.17126552760601044,
+              -0.4373973906040191,
+              0.7680753469467163
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007739585404222815,
+              0.020823743029629194
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3ff7c0c64d805fceeb144d587032802fc80726b017577a2db8c42ea233cbb54b",
+    "visual_seed": 8734499202259100221,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..620f8d4f3ceb0e11b50a3af4c4896280bc69651f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_4_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3157059912832219,
+              0.2950523930268654,
+              1.049582019691423
+            ],
+            "current_z": 1.049582019691423,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1929954526782126,
+            "gripper_z": 1.0497439421218981,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31000935665932994,
+              0.2898225227279638,
+              1.0497439421218981
+            ],
+            "object_minus_gripper": [
+              0.005696634623891972,
+              0.0052298702989015955,
+              -0.00016192243047519206
+            ],
+            "object_to_gripper_xy": 0.007733252186593807,
+            "object_to_gripper_z": -0.00016192243047519206,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3157059912832219,
+              0.27025182782233614,
+              1.049582019691423
+            ],
+            "finger_b": [
+              0.3032254836049162,
+              0.2950523930268654,
+              1.049582019691423
+            ],
+            "finger_midpoint": [
+              0.309465737444069,
+              0.2826521104246008,
+              1.049582019691423
+            ],
+            "object_minus_finger_midpoint": [
+              0.006240253839152887,
+              0.012400282602264612,
+              0.0
+            ],
+            "finger_gap": 0.027763845309545225,
+            "fingertip_max_gap": 0.09127358309984965,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0138819226547726,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049582019691423,
+            "object_top_z": 1.0954446684484163,
+            "finger_top_clearance": 0.04586264875699331,
+            "fingertip_min_top_clearance": 0.013758794627098026,
+            "object_projection_between_fingers": 0.7979284040037101,
+            "object_to_finger_line_xy": 0.011148442912374063,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048136791549924826,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3866696575517371,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31567598064152125,
+              0.2932831245450818,
+              1.2381114070276324
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+            "held_position": [
+              0.32179199993335367,
+              0.2980516295494346,
+              1.2378317362595703
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007760318788111236,
+            "max_held_gripper_dist": 0.007761565198159841,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00027967076806212354,
+            "max_held_gripper_z_dist": 0.0004273413264437309,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08847425978758122,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32179199993335367,
+              0.2722503307398531,
+              1.2378317362595703
+            ],
+            "held_grasp_finger_b": [
+              0.31127571221601064,
+              0.2980516295494346,
+              1.2378317362595703
+            ],
+            "held_grasp_midpoint": [
+              0.31653385607468215,
+              0.28515098014464385,
+              1.2378317362595703
+            ],
+            "held_grasp_object_position": [
+              0.32179199993335367,
+              0.2980516295494346,
+              1.2378317362595703
+            ],
+            "held_grasp_finger_gap": 0.02786214865395795,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02489356066926742,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07843526625483033,
+              -0.9967873588921392,
+              0.016213271118674207
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042354123577167885,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03192859680405486,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
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+                "link0",
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.327778079680713,
+              -0.3850846932577049,
+              0.8470196502174394
+            ],
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+              0.31844503212449465,
+              -0.38806740769996434,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009798079512368538,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18939890515581248,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196502174394,
+            "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": 0.07549820632854579,
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+            "release_fingertip_min_gap": 0.08565472044115434,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15795871972030182,
+            "release_required_pad_clearance": 0.05282736022057717,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6988525361402458,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008830368518829346,
+            "max_z_decrease": 0.008830368518829346,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499469382694833,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008830368518829346,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02098871752170083,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008830368518829346,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008830621948301738,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1741449534893036,
+              -0.4443288743495941,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1741449534893036,
+              -0.4443288743495941,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17325909085963306,
+              -0.4448223546321235,
+              0.8029567309962348
+            ],
+            "closest_button": [
+              0.17418010532855988,
+              -0.44427195191383356,
+              0.7679784893989563
+            ],
+            "closest_ee_minus_button": [
+              -0.0009210144689268118,
+              -0.0005504027182899329,
+              0.03497824159727847
+            ],
+            "button_min_z_position": [
+              0.17418010532855988,
+              -0.44427195191383356,
+              0.7679784893989563
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+            "min_active_finger_to_button": 0.1465845861467512,
+            "closest_active_finger": [
+              0.03266425430774689,
+              -0.4275050759315491,
+              0.8100239634513855
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+            "closest_active_finger_button": [
+              0.17414821684360504,
+              -0.44433119893074036,
+              0.7755825519561768
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14148396253585815,
+              0.016826122999191284,
+              0.03444141149520874
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+            "min_contact_pad_to_button": 0.02098871752170083,
+            "closest_contact_pad": [
+              0.17418010532855988,
+              -0.44610461787635175,
+              0.7888870426410048
+            ],
+            "closest_contact_pad_button": [
+              0.17418010532855988,
+              -0.44427195191383356,
+              0.7679784893989563
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018326659625181874,
+              0.020908553242048544
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f0db54039dfb507d3317adc104e6d019c39f25c65a2f17630e326b331c93baa",
+    "visual_seed": 3867196063811596550,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..21973b8f0ddd5f4f2bef9cd40cb267c91094008a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_50_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3140067351051404,
+              0.2989950257222729,
+              1.0483480080137475
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+            "lift_margin": 0.19176144100053716,
+            "gripper_z": 1.048338318387873,
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+            "gripper_position": [
+              0.30844189003337963,
+              0.2938552966627339,
+              1.048338318387873
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+              0.005564845071760749,
+              0.005139729059538967,
+              9.689625874553798e-06
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+            "object_to_gripper_xy": 0.0075752435920021215,
+            "object_to_gripper_z": 9.689625874553798e-06,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3140067351051404,
+              0.27424979114873127,
+              1.0483480080137475
+            ],
+            "finger_b": [
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+              0.2989950257222729,
+              1.0483480080137475
+            ],
+            "finger_midpoint": [
+              0.3078527971580425,
+              0.2866224084355021,
+              1.0483480080137475
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+              0.006153937947097898,
+              0.012372617286770804,
+              0.0
+            ],
+            "finger_gap": 0.027637120745955517,
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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": 1.094439681157879,
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+            "object_projection_between_fingers": 0.8016735560633953,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836366520158285,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.644823348071843,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
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+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d6498cdbf072f709ad04d4ab27e86ac74e6a5fac2bf592c987cce6c45b1d82b6",
+    "visual_seed": 9011806491478687850,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcfc7e01dc375dade4b7663bd7418464dc525b68
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_53_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+          "skill": "pick",
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+              0.28880073872144574,
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+            "stable_success_frames": 227,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008905291557312012,
+            "max_z_decrease": 0.008905291557312012,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502300029514494,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008905291557312012,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020856807858403714,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008905291557312012,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008905549299320688,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17716144025325772,
+              -0.44435641169548035,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17716144025325772,
+              -0.44435641169548035,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1765339643641567,
+              -0.44259496556587574,
+              0.8028801716319514
+            ],
+            "closest_button": [
+              0.17713823914527888,
+              -0.44429275393486023,
+              0.7679035663604736
+            ],
+            "closest_ee_minus_button": [
+              -0.0006042747811221827,
+              0.0016977883689844875,
+              0.03497660527147772
+            ],
+            "button_min_z_position": [
+              0.17713823914527888,
+              -0.44429275393486023,
+              0.7679035663604736
+            ],
+            "min_active_finger_to_button": 0.14565819457615908,
+            "closest_active_finger": [
+              0.0501326322555542,
+              -0.5068542957305908,
+              0.8103736042976379
+            ],
+            "closest_active_finger_button": [
+              0.17716331779956812,
+              -0.4443590939044953,
+              0.776111900806427
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12703068554401392,
+              -0.062495201826095526,
+              0.03426170349121094
+            ],
+            "min_contact_pad_to_button": 0.020856807858403714,
+            "closest_contact_pad": [
+              0.17713823914527888,
+              -0.44429275393486023,
+              0.7887603742188773
+            ],
+            "closest_contact_pad_button": [
+              0.17713823914527888,
+              -0.44429275393486023,
+              0.7679035663604736
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020856807858403714
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9bdba5fb2c957b1908b8feb290baecb33ff78431c76aa45b03eb7eaa0c080c54",
+    "visual_seed": 3907582455179069723,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ad898f968543bbf7d5139902352d5e3c11d013a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_54_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.311602455815673,
+              0.2992460972124427,
+              1.0472769580596422
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+            "lift_margin": 0.19069039104643182,
+            "gripper_z": 1.0479628506423784,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3056980063271271,
+              0.29400907315711566,
+              1.0479628506423784
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+              0.005904449488545849,
+              0.005237024055327055,
+              -0.0006858925827362139
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+            "object_to_gripper_z": -0.0006858925827362139,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.311602455815673,
+              0.2741374830244787,
+              1.0472769580596422
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+            "finger_b": [
+              0.29931790428381255,
+              0.2992460972124427,
+              1.0472769580596422
+            ],
+            "finger_midpoint": [
+              0.30546018004974274,
+              0.2866917901184607,
+              1.0472769580596422
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061422757659302385,
+              0.012554307093982031,
+              0.0
+            ],
+            "finger_gap": 0.02795268704040743,
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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": 0.8068603284140315,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048826835445344094,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31112992684838187,
+              0.2978462276884678,
+              1.2362340132320433
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+            "held_position": [
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+              0.30271442717637914,
+              1.235441851767383
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007921185934822035,
+            "max_held_gripper_dist": 0.00792319827928111,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007921614646602126,
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.322600539319119,
+              -0.38182908683572936,
+              0.847019991385954
+            ],
+            "target_position": [
+              0.3142579601786108,
+              -0.38470797383502525,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008825339487541375,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18658918878764272,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019991385954,
+            "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": 0.07547689534109116,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08739570048725158,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15519711088845672,
+            "release_required_pad_clearance": 0.05369785024362579,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.402111422285693,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008527994155883789,
+            "max_z_decrease": 0.008527994155883789,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498588862899647,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008527994155883789,
+            "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": 0.020842551860914993,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008527994155883789,
+            "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": 0.008528187250827678,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16995789110660553,
+              -0.44096943736076355,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16995789110660553,
+              -0.44096943736076355,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16838495068280682,
+              -0.43917861497178845,
+              0.8035077440525945
+            ],
+            "closest_button": [
+              0.1700129359960556,
+              -0.44094806909561163,
+              0.768604576587677
+            ],
+            "closest_ee_minus_button": [
+              -0.0016279853132487865,
+              0.0017694541238231776,
+              0.034903167464917506
+            ],
+            "button_min_z_position": [
+              0.17000995576381683,
+              -0.4409452974796295,
+              0.7682808637619019
+            ],
+            "min_active_finger_to_button": 0.14648131525282018,
+            "closest_active_finger": [
+              0.04066324979066849,
+              -0.5006561279296875,
+              0.8108407258987427
+            ],
+            "closest_active_finger_button": [
+              0.16996031999588013,
+              -0.44097271561622625,
+              0.7765342593193054
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12929707020521164,
+              -0.05968341231346125,
+              0.034306466579437256
+            ],
+            "min_contact_pad_to_button": 0.020842551860914993,
+            "closest_contact_pad": [
+              0.1700129359960556,
+              -0.44094806909561163,
+              0.789447128448592
+            ],
+            "closest_contact_pad_button": [
+              0.1700129359960556,
+              -0.44094806909561163,
+              0.768604576587677
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020842551860914993
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b34f5331aacd35bcc4204376bad9b25fac1b3c960a424c951ee84b7af0e997b",
+    "visual_seed": 2060679384705600808,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d970209cb0eb350a8dbeae6127121dd2979d893
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_55_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00888758897781372,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008888001050252968,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17371420562267298,
+              -0.44448041915893555,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17371420562267298,
+              -0.44448041915893555,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17434094570415365,
+              -0.44406031203298013,
+              0.8033310607980513
+            ],
+            "closest_button": [
+              0.17367263138294214,
+              -0.44441238045692444,
+              0.7683330178260803
+            ],
+            "closest_ee_minus_button": [
+              0.000668314321211505,
+              0.00035206842394430726,
+              0.034998042971970955
+            ],
+            "button_min_z_position": [
+              0.17366409301757807,
+              -0.44441103935241705,
+              0.7679212689399719
+            ],
+            "min_active_finger_to_button": 0.14515616659478267,
+            "closest_active_finger": [
+              0.046889528632164,
+              -0.5061532855033875,
+              0.8111792206764221
+            ],
+            "closest_active_finger_button": [
+              0.17371761798858637,
+              -0.4444828927516937,
+              0.776803195476532
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12682808935642237,
+              -0.061670392751693726,
+              0.03437602519989014
+            ],
+            "min_contact_pad_to_button": 0.020955683915519153,
+            "closest_contact_pad": [
+              0.17366409301757807,
+              -0.4453077741994351,
+              0.7888577575419627
+            ],
+            "closest_contact_pad_button": [
+              0.17366409301757807,
+              -0.44441103935241705,
+              0.7679212689399719
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008967348470180769,
+              0.02093648860199082
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1343678f9096ca52cc7e5170ae0935ce506f70002e2af8c45440466c84cbd4ed",
+    "visual_seed": 3738960916264008666,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..13294d33dcaaf60b4720badf724ce5cb017411a4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_57_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3169536456095613,
+              0.2941866824372865,
+              1.0500770253976561
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+            "current_z": 1.0500770253976561,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19349045838444578,
+            "gripper_z": 1.0501715453179494,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3115083033027011,
+              0.28909571077570084,
+              1.0501715453179494
+            ],
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+              0.005445342306860224,
+              0.005090971661585675,
+              -9.451992029330114e-05
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+            "object_to_gripper_xy": 0.007454511741083397,
+            "object_to_gripper_z": -9.451992029330114e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3169536456095613,
+              0.26958769978777647,
+              1.0500770253976561
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+            "finger_b": [
+              0.30461892914023575,
+              0.2941866824372865,
+              1.0500770253976561
+            ],
+            "finger_midpoint": [
+              0.31078628737489855,
+              0.28188719111253147,
+              1.0500770253976561
+            ],
+            "object_minus_finger_midpoint": [
+              0.006167358234662745,
+              0.012299491324755052,
+              0.0
+            ],
+            "finger_gap": 0.027518269890557206,
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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": 1.0965198024909517,
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+            "object_projection_between_fingers": 0.7990832749050509,
+            "object_to_finger_line_xy": 0.011026182882219744,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04860709904950834,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8991118661126444,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31766695751223184,
+              0.2915131094972344,
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+            "held_position": [
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+              0.2960294921052333,
+              1.2393144155833777
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007454963881087563,
+            "max_held_gripper_dist": 0.007455777998802086,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00022663701464264996,
+            "max_held_gripper_z_dist": 0.00036499068984374716,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08887407552443022,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32359379564652224,
+              0.27015009204827156,
+              1.2393144155833777
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+              0.2960294921052333,
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+              0.3186924416408653,
+              0.28308979207675244,
+              1.2393144155833777
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+            "held_grasp_object_position": [
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+              0.2960294921052333,
+              1.2393144155833777
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+            "held_grasp_finger_gap": 0.02767374986631465,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024736029164798334,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10184993261180476,
+              -0.9943984118071193,
+              0.02825579272378909
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003577419662745257,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03183380523304609,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+            },
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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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
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+              -0.38187996388931245,
+              0.8470193425839894
+            ],
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+              0.3231205304912385,
+              -0.38331192189008795,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007410530933169434,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18728728471948075,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193425839894,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_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": 0.15639303908264415,
+            "release_required_pad_clearance": 0.05335823973232494,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.731847033940545,
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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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008710503578186035,
+            "max_z_decrease": 0.008710503578186035,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505944078678223,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008710503578186035,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02107494532528009,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008710503578186035,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008710804274328169,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1788204610347747,
+              -0.43957337737083435,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1788204610347747,
+              -0.43957337737083435,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1805201371623604,
+              -0.4403852689287509,
+              0.8034749115196702
+            ],
+            "closest_button": [
+              0.17878270149230951,
+              -0.43953076004981995,
+              0.768468976020813
+            ],
+            "closest_ee_minus_button": [
+              0.0017374356700508853,
+              -0.0008545088789309596,
+              0.03500593549885722
+            ],
+            "button_min_z_position": [
+              0.17876754701137532,
+              -0.43952399492263794,
+              0.7680983543395996
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+            "min_active_finger_to_button": 0.14408615262785354,
+            "closest_active_finger": [
+              0.03974789381027222,
+              -0.4245350658893585,
+              0.8076672554016113
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+            "closest_active_finger_button": [
+              0.17882743477821342,
+              -0.4395792484283447,
+              0.7731509804725647
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1390795409679412,
+              0.015044182538986206,
+              0.03451627492904663
+            ],
+            "min_contact_pad_to_button": 0.02107494532528009,
+            "closest_contact_pad": [
+              0.17876754701137532,
+              -0.4415304014081223,
+              0.7890775739027424
+            ],
+            "closest_contact_pad_button": [
+              0.17876754701137532,
+              -0.43952399492263794,
+              0.7680983543395996
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020064064854843355,
+              0.020979219563142748
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dbc1517b710b4db13e8f6a6b95bbdb78c7f5224f4a7c1036ad0b69611efc1d17",
+    "visual_seed": 5262740115406185852,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cdedc8aeeba4a6595e4d15fecae9ee4d5b13ab2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_58_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.2933336336876224,
+              1.0474536019097773
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+            "lift_margin": 0.1908669752919222,
+            "gripper_z": 1.0475124902008284,
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+            "gripper_position": [
+              0.30979393828451923,
+              0.28807067118896656,
+              1.0475124902008284
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+              0.005727835331385489,
+              0.005262962498655821,
+              -5.888829105105131e-05
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+            "object_to_gripper_xy": 0.007778616319482883,
+            "object_to_gripper_z": -5.888829105105131e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3155217736159047,
+              0.2685270109103892,
+              1.0474536019097773
+            ],
+            "finger_b": [
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+              0.2933336336876224,
+              1.0474536019097773
+            ],
+            "finger_midpoint": [
+              0.30924585904241697,
+              0.28093032229900583,
+              1.0474536019097773
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+            "object_minus_finger_midpoint": [
+              0.006275914573487751,
+              0.012403311388616556,
+              0.0
+            ],
+            "finger_gap": 0.027801383932221892,
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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": 0.013607383114520687,
+            "object_projection_between_fingers": 0.7961638501638814,
+            "object_to_finger_line_xy": 0.01119974788206222,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047817187531890806,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.27291822956702316,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
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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": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eec9d46e2fa664702122e6910f9dbdefa3d529e2ad15cc8bac93a411a1467a37",
+    "visual_seed": 7384990846589518715,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aacfa1784fd923239d09a3cb8bdb7d2ac5039849
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_59_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              0.2969745551324935,
+              1.0482102077710145
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+              0.29178262674106203,
+              1.049181158496132
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+              1.0482102077710145
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+              0.28440065423089056,
+              1.0482102077710145
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+              0.01257390090160293,
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+              0.0,
+              1.0
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+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.295747953643603,
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+              0.3006016516230652,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 0.0010662200624647067,
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+              0.287711067989207,
+              1.2367697786136056
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+              0.3006016516230652,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1562816971292236,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
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+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008710741996765137,
+            "max_z_decrease": 0.008710741996765137,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505174707720087,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008710741996765137,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021087536195089965,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008710741996765137,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008710932075855845,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17592871189117432,
+              -0.4380089342594146,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17592871189117432,
+              -0.4380089342594146,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17427875908733365,
+              -0.43969004727212424,
+              0.8036448283256494
+            ],
+            "closest_button": [
+              0.1759512573480606,
+              -0.43799102306365967,
+              0.7686742544174194
+            ],
+            "closest_ee_minus_button": [
+              -0.0016724982607269623,
+              -0.0016990242084645724,
+              0.034970573908229996
+            ],
+            "button_min_z_position": [
+              0.17595845460891724,
+              -0.4379596710205078,
+              0.7680981159210205
+            ],
+            "min_active_finger_to_button": 0.14727667073266207,
+            "closest_active_finger": [
+              0.033464886248111725,
+              -0.4234387278556824,
+              0.8107612729072571
+            ],
+            "closest_active_finger_button": [
+              0.17592991888523102,
+              -0.43801185488700867,
+              0.7763845920562744
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1424650326371193,
+              0.014573127031326294,
+              0.034376680850982666
+            ],
+            "min_contact_pad_to_button": 0.021087536195089965,
+            "closest_contact_pad": [
+              0.17595845460891724,
+              -0.44083648769221834,
+              0.7889884990820972
+            ],
+            "closest_contact_pad_button": [
+              0.17595845460891724,
+              -0.4379596710205078,
+              0.7680981159210205
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002876816671710525,
+              0.02089038316107672
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "17cc96e027199d9a35c18480d4cdbe223514549f029cb529b704e8871997f5ba",
+    "visual_seed": 3471545801488781258,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b069743153b99a48927ce7acbb658934affaa2e4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_5_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31785915843370205,
+              0.2936141829708238,
+              1.0491379453023948
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+            "current_z": 1.0491379453023948,
+            "required_z": 0.8565866266178551,
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+            "lift_margin": 0.19255131868453967,
+            "gripper_z": 1.0492414089922766,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.312180814625734,
+              0.28837978559407423,
+              1.0492414089922766
+            ],
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+              0.005678343807968056,
+              0.005234397376749578,
+              -0.00010346368988178867
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+            "object_to_gripper_z": -0.00010346368988178867,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31785915843370205,
+              0.2688580165582616,
+              1.0491379453023948
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+            "finger_b": [
+              0.30532856365833494,
+              0.2936141829708238,
+              1.0491379453023948
+            ],
+            "finger_midpoint": [
+              0.3115938610460185,
+              0.28123609976454267,
+              1.0491379453023948
+            ],
+            "object_minus_finger_midpoint": [
+              0.006265297387683555,
+              0.012378083206281143,
+              0.0
+            ],
+            "finger_gap": 0.027746776044631417,
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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": 0.011180019221274247,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790041590822651,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.25830267384636074,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3178852137492676,
+              0.29183065211658543,
+              1.2390220749477174
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+            "held_position": [
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+              0.296582193428111,
+              1.2388190271028325
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007723308674642429,
+            "max_held_gripper_dist": 0.007724425802422695,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00020304784488489602,
+            "max_held_gripper_z_dist": 0.00034910325794901276,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08840370114754101,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32397053408770177,
+              0.2707891744609727,
+              1.2388190271028325
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint5",
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+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.33072256404402983,
+              -0.37664806416515706,
+              0.8470194778851606
+            ],
+            "target_position": [
+              0.3221981092322224,
+              -0.37923032579192084,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008906986299955968,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18817986061752282,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194778851606,
+            "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": 0.075160680365452,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08639163290034672,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1574260470863585,
+            "release_required_pad_clearance": 0.053195816450173364,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4144117680892492,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008653223514556885,
+            "max_z_decrease": 0.008653223514556885,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499411395784744,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008653223514556885,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020938800877667724,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008653223514556885,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008653291687855212,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17789803445339197,
+              -0.43549177050590515,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17789803445339197,
+              -0.43549177050590515,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17602267818359157,
+              -0.4367187760172766,
+              0.803509335597224
+            ],
+            "closest_button": [
+              0.17796462774276728,
+              -0.4354768395423889,
+              0.7685912251472473
+            ],
+            "closest_ee_minus_button": [
+              -0.0019419495591757041,
+              -0.0012419364748876838,
+              0.034918110449976725
+            ],
+            "button_min_z_position": [
+              0.1779175698757171,
+              -0.4354635179042816,
+              0.7681556344032288
+            ],
+            "min_active_finger_to_button": 0.1475030688867051,
+            "closest_active_finger": [
+              0.034981146454811096,
+              -0.42308083176612854,
+              0.8107636570930481
+            ],
+            "closest_active_finger_button": [
+              0.17789970338344568,
+              -0.43549415469169617,
+              0.7764511108398438
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1429185569286346,
+              0.012413322925567627,
+              0.034312546253204346
+            ],
+            "min_contact_pad_to_button": 0.020938800877667724,
+            "closest_contact_pad": [
+              0.1779175698757171,
+              -0.4375840734367043,
+              0.7889867799893104
+            ],
+            "closest_contact_pad_button": [
+              0.1779175698757171,
+              -0.4354635179042816,
+              0.7681556344032288
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021205555324226855,
+              0.02083114558608168
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dc05fa38f1d66d6662c46c021fe19ed39ada16a37cfa18ac572b11a8b897c49d",
+    "visual_seed": 8858307901152234841,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a2b8968ed9deef1592e4b07900eff8559416b6d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_60_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.31613409052705516,
+              0.29347726964264165,
+              1.0495706943644245
+            ],
+            "current_z": 1.0495706943644245,
+            "required_z": 0.8565865670132103,
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+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17229084670543676,
+              -0.437574416399002,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17229084670543676,
+              -0.437574416399002,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17324544566413705,
+              -0.43869754070521116,
+              0.8035723273138178
+            ],
+            "closest_button": [
+              0.17231827974319464,
+              -0.4375446140766143,
+              0.7685794234275818
+            ],
+            "closest_ee_minus_button": [
+              0.0009271659209424132,
+              -0.0011529266285968398,
+              0.03499290388623599
+            ],
+            "button_min_z_position": [
+              0.172311082482338,
+              -0.437527447938919,
+              0.7681882977485657
+            ],
+            "min_active_finger_to_button": 0.14475705748737297,
+            "closest_active_finger": [
+              0.03226707875728607,
+              -0.42442095279693604,
+              0.8108090758323669
+            ],
+            "closest_active_finger_button": [
+              0.1722917407751084,
+              -0.4375759959220885,
+              0.7765359878540039
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14002466201782232,
+              0.013155043125152477,
+              0.03427308797836304
+            ],
+            "min_contact_pad_to_button": 0.02098559434721096,
+            "closest_contact_pad": [
+              0.172311082482338,
+              -0.43972889085225264,
+              0.7890581041493214
+            ],
+            "closest_contact_pad_button": [
+              0.172311082482338,
+              -0.437527447938919,
+              0.7681882977485657
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002201442913333629,
+              0.020869806400755753
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a4b4571fcc78267d3203ca6abb86392ab22070cdab97bb6424662c6ab55953e6",
+    "visual_seed": 5739703349712133628,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3403e4d7ce21ddc6a73b68f92299052afc9a660
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_61_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3128694005520493,
+              0.2963097528725501,
+              1.0509353642984383
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+            "lift_margin": 0.19434897609916224,
+            "gripper_z": 1.0508416765029693,
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+            "gripper_position": [
+              0.3076528092876908,
+              0.29129470198454954,
+              1.0508416765029693
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+              0.005216591264358528,
+              0.005015050888000583,
+              9.368779546892192e-05
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+            "object_to_gripper_xy": 0.007236266981573934,
+            "object_to_gripper_z": 9.368779546892192e-05,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3128694005520493,
+              0.2718755784971202,
+              1.0509353642984383
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+            "finger_b": [
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+              0.2963097528725501,
+              1.0509353642984383
+            ],
+            "finger_midpoint": [
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+              0.28409266568483516,
+              1.0509353642984383
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+              0.006105428831684245,
+              0.01221708718771497,
+              0.0
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+            "finger_gap": 0.027315452079069887,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827990237365905,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2944828226472659,
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+            "held_position": [
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+              0.2989930574868353,
+              1.2418008110127638
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0072384716203529025,
+            "max_held_gripper_dist": 0.007241079494791448,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 1.0666537524572917e-05,
+            "max_held_gripper_z_dist": 0.00012383279665262314,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08829240307778768,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2733226206894974,
+              1.2418008110127638
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+              0.2861578390881664,
+              1.2418008110127638
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+            "held_grasp_object_position": [
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+              0.2989930574868353,
+              1.2418008110127638
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+            "held_grasp_finger_gap": 0.027529518276994666,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02464894116811298,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09138106448276073,
+              -0.9956093141898983,
+              0.02028779318501428
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003788079448144619,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03196696957511457,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              -0.3841796412155545,
+              0.8470200280890317
+            ],
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+              -0.38631889673630065,
+              0.8084375599031817
+            ],
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470200280890317,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
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+            "object_tilt_deg": 0.29607093045289756,
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+            "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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008759558200836182,
+            "max_z_decrease": 0.008759558200836182,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506141092602146,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008759558200836182,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021051079458054192,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008759558200836182,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008759868146838906,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17739155888557429,
+              -0.4425803422927856,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17739155888557429,
+              -0.4425803422927856,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17863930873624775,
+              -0.44412516513478945,
+              0.8030501727020941
+            ],
+            "closest_button": [
+              0.1773445457220077,
+              -0.4425235986709594,
+              0.7680492997169495
+            ],
+            "closest_ee_minus_button": [
+              0.001294763014240058,
+              -0.0016015664638300287,
+              0.03500087298514465
+            ],
+            "button_min_z_position": [
+              0.1773445457220077,
+              -0.4425235986709594,
+              0.7680492997169495
+            ],
+            "min_active_finger_to_button": 0.14441173623102846,
+            "closest_active_finger": [
+              0.03768333047628403,
+              -0.4300578534603119,
+              0.8103669881820679
+            ],
+            "closest_active_finger_button": [
+              0.17739382386207575,
+              -0.4425836503505706,
+              0.7760328650474548
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13971049338579172,
+              0.012525796890258734,
+              0.03433412313461304
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+            "min_contact_pad_to_button": 0.021051079458054192,
+            "closest_contact_pad": [
+              0.1773445457220077,
+              -0.4451145130380225,
+              0.788940329109774
+            ],
+            "closest_contact_pad_button": [
+              0.1773445457220077,
+              -0.4425235986709594,
+              0.7680492997169495
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002590914367063102,
+              0.0208910293928245
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "36719a4689c7245c7f1b876274c407b07843df50e1c4b46e2dc6977a657e15ed",
+    "visual_seed": 8879271855657088755,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..25fc78294fefd8ff77c46061cb74d1a039d3bab5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_62_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.2927997229960025,
+              1.0488255988899473
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+            "lift_margin": 0.1922389722720922,
+            "gripper_z": 1.0496914212127337,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3048849765598305,
+              0.28773558511788583,
+              1.0496914212127337
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+              0.005686526744585807,
+              0.005064137878116659,
+              -0.0008658223227864248
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+            "object_to_gripper_z": -0.0008658223227864248,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3105715033044163,
+              0.26771298688440737,
+              1.0488255988899473
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+            "finger_b": [
+              0.2987087505436557,
+              0.2927997229960025,
+              1.0488255988899473
+            ],
+            "finger_midpoint": [
+              0.30464012692403597,
+              0.28025635494020495,
+              1.0488255988899473
+            ],
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+              0.0059313763803803266,
+              0.012543368055797532,
+              0.0
+            ],
+            "finger_gap": 0.027750121293351922,
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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": 1.0942744032639677,
+            "finger_top_clearance": 0.045448804374020435,
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+            "object_projection_between_fingers": 0.8172568163322494,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048232433918364195,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9371438522869243,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
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+        "attach_object": null,
+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
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+  ],
+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
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+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
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+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5b3bc1d0c0ab2014517c2b138bb1cbb6509255e67ce0faa7e9269a194ca5a08e",
+    "visual_seed": 1843630790227186098,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f9bff6fa8acca201f0d0d05986d56a3573a0018
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_63_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "release_required_pad_clearance": 0.05302914110682723,
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 1.0892909345478696,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "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"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008940637111663818,
+            "max_z_decrease": 0.008940637111663818,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500311077726611,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008940637111663818,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020955260902821776,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008940637111663818,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008941095468214574,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1768476963043213,
+              -0.4437608122825623,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1768476963043213,
+              -0.4437608122825623,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1766395232947227,
+              -0.44463733680736095,
+              0.8032731497680159
+            ],
+            "closest_button": [
+              0.17681211233139038,
+              -0.44368046522140503,
+              0.7682835459709167
+            ],
+            "closest_ee_minus_button": [
+              -0.00017258903666766967,
+              -0.0009568715859559207,
+              0.034989603797099145
+            ],
+            "button_min_z_position": [
+              0.17680780589580536,
+              -0.443679541349411,
+              0.7678682208061218
+            ],
+            "min_active_finger_to_button": 0.1458300716596676,
+            "closest_active_finger": [
+              0.03576447814702988,
+              -0.4302249550819397,
+              0.8104166984558105
+            ],
+            "closest_active_finger_button": [
+              0.17684903740882874,
+              -0.44376325607299805,
+              0.7760907411575317
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14108455926179886,
+              0.01353830099105835,
+              0.03432595729827881
+            ],
+            "min_contact_pad_to_button": 0.020955260902821776,
+            "closest_contact_pad": [
+              0.17680780589580536,
+              -0.4456407317280188,
+              0.7887315065445712
+            ],
+            "closest_contact_pad_button": [
+              0.17680780589580536,
+              -0.443679541349411,
+              0.7678682208061218
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019611903786078133,
+              0.020863285738449422
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "803f83fc6c4c5f9be39fe223a0b5c2340effea06bf8617f4870643803c7b6a36",
+    "visual_seed": 2741702431706571244,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe27b1266d3ead0da73fa257e379b5ba890e7311
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_64_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.31205085208318195,
+              0.2929092927825495,
+              1.049829199573481
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+            "gripper_z": 1.049883750833942,
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+            "gripper_position": [
+              0.3067883349105367,
+              0.28791925675565705,
+              1.049883750833942
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+              0.0052625171726452535,
+              0.004990036026892464,
+              -5.4551260461055406e-05
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+            "object_to_gripper_z": -5.4551260461055406e-05,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31205085208318195,
+              0.2683879494456019,
+              1.049829199573481
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+            "finger_b": [
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+              0.2929092927825495,
+              1.049829199573481
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+            "finger_midpoint": [
+              0.3059993818762149,
+              0.28064862111407574,
+              1.049829199573481
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+              0.006051470206967058,
+              0.012260671668473777,
+              0.0
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+            "finger_gap": 0.02734551966431987,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04797498083967468,
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+              1.0
+            ],
+            "stable_success_frames": 227,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2912398084674887,
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+            "held_position": [
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+              0.2957716391175789,
+              1.2398423151455211
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0072539445691229346,
+            "max_held_gripper_dist": 0.007257201352531703,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0001503741101898104,
+            "max_held_gripper_z_dist": 0.0002831051490028713,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08816513699246889,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.2701581873131533,
+              1.2398423151455211
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+            "held_grasp_finger_b": [
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+              0.2829649132153661,
+              1.2398423151455211
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+            "held_grasp_object_position": [
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+              0.2957716391175789,
+              1.2398423151455211
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+                "beaker_b"
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+                "/World/target_beaker"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "geometry",
+                "gripper",
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+                "joint1",
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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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32359993073620547,
+              -0.3791580651049258,
+              0.847019581104441
+            ],
+            "target_position": [
+              0.31650003326661175,
+              -0.38114461991521476,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007372580558598567,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1860328586980841,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019581104441,
+            "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": 0.07587925451186679,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554232095331991,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15366136770896074,
+            "release_required_pad_clearance": 0.05277116047665996,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5908272194152764,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0087394118309021,
+            "max_z_decrease": 0.0087394118309021,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035020386863506246,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0087394118309021,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020853424614950825,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.0087394118309021,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00873952799669564,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1721999645233154,
+              -0.4374060928821563,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1721999645233154,
+              -0.4374060928821563,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17053647326015245,
+              -0.43669078970801856,
+              0.8034173794228658
+            ],
+            "closest_button": [
+              0.17218908667564392,
+              -0.4373528361320495,
+              0.7684422731399536
+            ],
+            "closest_ee_minus_button": [
+              -0.0016526134154914718,
+              0.0006620464240309487,
+              0.03497510628291223
+            ],
+            "button_min_z_position": [
+              0.17219266295433044,
+              -0.43736162781715393,
+              0.7680694460868835
+            ],
+            "min_active_finger_to_button": 0.14692755619490164,
+            "closest_active_finger": [
+              0.04387248307466507,
+              -0.500274658203125,
+              0.8102755546569824
+            ],
+            "closest_active_finger_button": [
+              0.17219741642475128,
+              -0.43740943074226374,
+              0.7760939598083496
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1283249333500862,
+              -0.06286522746086126,
+              0.03418159484863281
+            ],
+            "min_contact_pad_to_button": 0.020853424614950825,
+            "closest_contact_pad": [
+              0.17219266295433044,
+              -0.43779564079708005,
+              0.788918353753826
+            ],
+            "closest_contact_pad_button": [
+              0.17219266295433044,
+              -0.43736162781715393,
+              0.7680694460868835
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00043401297992612387,
+              0.020848907666942473
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1241fa1cb12e58b5cf9fff37561baa990d06b3e945d7078221950258e0ba8cac",
+    "visual_seed": 6882018316698706844,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..28d3addea7017a8497fddb336988384d8b8302a9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_65_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.31654364678405944,
+              0.3013662985810732,
+              1.0486397618251018
+            ],
+            "current_z": 1.0486397618251018,
+            "required_z": 0.8565866862224999,
+            "initial_z": 0.7565866862224999,
+            "lift_margin": 0.19205307560260187,
+            "gripper_z": 1.0484415775259681,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3111138625577714,
+              0.29622309651837453,
+              1.0484415775259681
+            ],
+            "object_minus_gripper": [
+              0.005429784226288037,
+              0.005143202062698693,
+              0.00019818429913365243
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+            "closest_active_finger_minus_button": [
+              -0.12919031828641891,
+              -0.06159001588821411,
+              0.03427165746688843
+            ],
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+            "closest_contact_pad": [
+              0.17089328169822696,
+              -0.43768802478329966,
+              0.7889665344202633
+            ],
+            "closest_contact_pad_button": [
+              0.17089328169822696,
+              -0.43676429986953735,
+              0.7680854201316833
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009237249137623027,
+              0.02088111428857997
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "76ded4d0a7398e900b018fe256bf3a15babb0b1d87cd13fcf9fdfcafd5fa90eb",
+    "visual_seed": 8585426241718901359,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..94bf9882358497646e4e37f3ded620c269b14607
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_66_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+      "reason": "executed",
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+              0.30156587586178785,
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+              0.3081143611959727,
+              0.2964747947292128,
+              1.0486888263633596
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+            "object_to_gripper_z": -5.123659064665276e-05,
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+              0.28931028722756597,
+              1.048637589772713
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+              0.012255588634221881,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+              ],
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+          }
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3034956792767096,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.00018400341500335315,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.29055586089317853,
+              1.2372860876399414
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024729757143956897,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              0.028940434212659343
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+            "held_grasp_object_to_finger_line_xy": 0.003551006497858819,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3302102329014678,
+              -0.38688257453799,
+              0.8470192720049436
+            ],
+            "target_position": [
+              0.32283626186825154,
+              -0.38832802686915496,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007514305106953163,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18538854466401763,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192720049436,
+            "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": 0.07516155523759006,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08751926221394717,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15461154340532263,
+            "release_required_pad_clearance": 0.053759631106973585,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5263106905302406,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008736252784729004,
+            "max_z_decrease": 0.008736252784729004,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350088461390126,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008736252784729004,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020838676623231245,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008736252784729004,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008736355771115542,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17853619158267975,
+              -0.44458949565887446,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17853619158267975,
+              -0.44458949565887446,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17742669029256192,
+              -0.44355694873786056,
+              0.8030497940636072
+            ],
+            "closest_button": [
+              0.17853805422782898,
+              -0.44454711675643915,
+              0.7680726051330566
+            ],
+            "closest_ee_minus_button": [
+              -0.0011113639352670623,
+              0.0009901680185785966,
+              0.03497718893055057
+            ],
+            "button_min_z_position": [
+              0.17853805422782898,
+              -0.44454711675643915,
+              0.7680726051330566
+            ],
+            "min_active_finger_to_button": 0.14635251940465815,
+            "closest_active_finger": [
+              0.051416173577308655,
+              -0.5085247755050659,
+              0.8108739256858826
+            ],
+            "closest_active_finger_button": [
+              0.1785377562046051,
+              -0.44459125399589533,
+              0.7766442894935608
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12712158262729645,
+              -0.06393352150917059,
+              0.03422963619232178
+            ],
+            "min_contact_pad_to_button": 0.020838676623231245,
+            "closest_contact_pad": [
+              0.17853805422782898,
+              -0.44454711675643915,
+              0.7889112817562879
+            ],
+            "closest_contact_pad_button": [
+              0.17853805422782898,
+              -0.44454711675643915,
+              0.7680726051330566
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020838676623231245
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db995babff97adf71be51701b0c19f6aa1b9fc75a8a917aa3cb35a3fb9790f8e",
+    "visual_seed": 3795504167174557347,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1abb1b2ce7be186b92f64fc40e0a128db33ed0e5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_67_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3103591919245042,
+              0.2906168086315298,
+              1.0508061140580174
+            ],
+            "current_z": 1.0508061140580174,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19421954704480704,
+            "gripper_z": 1.05058868742847,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3051193816311722,
+              0.28558092262532964,
+              1.05058868742847
+            ],
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+              0.005239810293331981,
+              0.005035886006200141,
+              0.00021742662954737924
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+            "object_to_gripper_xy": 0.007267445202927243,
+            "object_to_gripper_z": 0.00021742662954737924,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3103591919245042,
+              0.26617834874172985,
+              1.0508061140580174
+            ],
+            "finger_b": [
+              0.29810236645543475,
+              0.2906168086315298,
+              1.0508061140580174
+            ],
+            "finger_midpoint": [
+              0.30423077918996944,
+              0.27839757868662984,
+              1.0508061140580174
+            ],
+            "object_minus_finger_midpoint": [
+              0.006128412734534738,
+              0.012219229944899934,
+              0.0
+            ],
+            "finger_gap": 0.027339862698349246,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01366993134917461,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0508061140580174,
+            "object_top_z": 1.0969255061900394,
+            "finger_top_clearance": 0.046119392132021986,
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+            "object_projection_between_fingers": 0.7990151390891049,
+            "object_to_finger_line_xy": 0.010956087852636371,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833034722638223,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6582603578664613,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    }
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+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
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+  "reproducibility": {
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+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
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+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
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+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c74f5a9818fdd29599f0fafc83787e0774ed04913635212d03d6e26639df83ef",
+    "visual_seed": 4043490821833866268,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..844b837ef928ee8d01fe267a09b347d40c97bbdf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_68_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
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+                "tool_center",
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+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "ground",
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+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
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+          "metrics": {
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              "allowed_object_paths": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+            "release_required_pad_clearance": 0.05264405385116179,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.3471787107285641,
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+            "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"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00894021987915039,
+            "max_z_decrease": 0.00894021987915039,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500805262792264,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00894021987915039,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.0209820858447059,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00894021987915039,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008940531905264533,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17504991590976715,
+              -0.4441278576850891,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17504991590976715,
+              -0.4441278576850891,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17512682760095657,
+              -0.44530882290197166,
+              0.8028543214445433
+            ],
+            "closest_button": [
+              0.1750776618719101,
+              -0.44405850768089294,
+              0.7678686380386353
+            ],
+            "closest_ee_minus_button": [
+              4.9165729046479756e-05,
+              -0.0012503152210787127,
+              0.03498568340590802
+            ],
+            "button_min_z_position": [
+              0.1750776618719101,
+              -0.44405850768089294,
+              0.7678686380386353
+            ],
+            "min_active_finger_to_button": 0.14554155742603414,
+            "closest_active_finger": [
+              0.03428260236978531,
+              -0.4303945004940033,
+              0.8104124069213867
+            ],
+            "closest_active_finger_button": [
+              0.17505109310150146,
+              -0.44412991404533386,
+              0.7760916352272034
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14076849073171616,
+              0.013735413551330566,
+              0.03432077169418335
+            ],
+            "min_contact_pad_to_button": 0.0209820858447059,
+            "closest_contact_pad": [
+              0.1750776618719101,
+              -0.44637330533095254,
+              0.788722645764583
+            ],
+            "closest_contact_pad_button": [
+              0.1750776618719101,
+              -0.44405850768089294,
+              0.7678686380386353
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002314797650059597,
+              0.0208540077259477
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "037474663586405f7d002237a7dbc597529cce96029a271e129ea97112be9e31",
+    "visual_seed": 8246672763062178709,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..668084f28ee83200dd58a2a3f25aa9a141ebdcb1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3087880730655609,
+              0.29420156006542597,
+              1.05051149272461
+            ],
+            "current_z": 1.05051149272461,
+            "required_z": 0.8565864478039208,
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+            "lift_margin": 0.19392504492068918,
+            "gripper_z": 1.0503502736240846,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30350759082558443,
+              0.28916687676916836,
+              1.0503502736240846
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+              0.005280482239976458,
+              0.005034683296257614,
+              0.00016121910052535604
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+            "object_to_gripper_xy": 0.007295994009065675,
+            "object_to_gripper_z": 0.00016121910052535604,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3087880730655609,
+              0.2697594814161665,
+              1.05051149272461
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+            "finger_b": [
+              0.29647959290790366,
+              0.29420156006542597,
+              1.05051149272461
+            ],
+            "finger_midpoint": [
+              0.3026338329867323,
+              0.28198052074079627,
+              1.05051149272461
+            ],
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+              0.006154240078828588,
+              0.012221039324629701,
+              0.0
+            ],
+            "finger_gap": 0.027366291171586017,
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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": 0.7977088083008638,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864444782079526,
+            "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": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2912527387288373,
+              1.2416770330987341
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+              0.2956899660798955,
+              1.2417396542485666
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+            "object_initial_z": 0.7730800627579277,
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007297904032376538,
+            "max_held_gripper_dist": 0.007298839590513169,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 6.26211498324647e-05,
+            "max_held_gripper_z_dist": 0.00017487466562715603,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08831418272369657,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.2698352700181914,
+              1.2417396542485666
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+            "held_grasp_midpoint": [
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+              0.2828501588285748,
+              1.2417396542485666
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+            "held_grasp_object_position": [
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+              0.2956899660798955,
+              1.2417396542485666
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+            "held_grasp_finger_gap": 0.027766122251287162,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024846761627200637,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10610307216864509,
+              -0.9939472485389474,
+              0.028478152998940735
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+                "elbow_joint",
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+                "fr3_joint1",
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+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_leftfinger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+            },
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.3275922790065877,
+              -0.38611494691252457,
+              0.8470197546244035
+            ],
+            "target_position": [
+              0.32073586220423744,
+              -0.38730142222600605,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00695831696871105,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18520920161673673,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197546244035,
+            "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": 0.07541385633539172,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08646608216945255,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536402042713695,
+            "release_required_pad_clearance": 0.053233041084726276,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4861894557101802,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008689641952514648,
+            "max_z_decrease": 0.008689641952514648,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035018335168999166,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008689641952514648,
+            "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": 0.021084954711149947,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008689641952514648,
+            "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": 0.008689821846645367,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1764357835054397,
+              -0.4435628950595855,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1764357835054397,
+              -0.4435628950595855,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17616964422784862,
+              -0.4448692556133882,
+              0.8034837833576568
+            ],
+            "closest_button": [
+              0.17641000449657435,
+              -0.44351679086685175,
+              0.7684924006462097
+            ],
+            "closest_ee_minus_button": [
+              -0.00024036026872573113,
+              -0.0013524647465364414,
+              0.03499138271144708
+            ],
+            "button_min_z_position": [
+              0.17640410363674158,
+              -0.44351682066917414,
+              0.768119215965271
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+            "min_active_finger_to_button": 0.14591174232023826,
+            "closest_active_finger": [
+              0.03545531630516052,
+              -0.4284847676753998,
+              0.8092312812805176
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+            "closest_active_finger_button": [
+              0.1764399260282516,
+              -0.4435666799545287,
+              0.7747913002967834
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14098460972309107,
+              0.015081912279128917,
+              0.03443998098373413
+            ],
+            "min_contact_pad_to_button": 0.021084954711149947,
+            "closest_contact_pad": [
+              0.17640410363674158,
+              -0.44605890593412956,
+              0.7890503678131016
+            ],
+            "closest_contact_pad_button": [
+              0.17640410363674158,
+              -0.44351682066917414,
+              0.768119215965271
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002542085264955418,
+              0.020931151847830565
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6dfdbb3180de1ec6abbcd8615db22afff017475583bbcb19f5f9c3f8a0b1a6c0",
+    "visual_seed": 8609688728352712498,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..82e23b6768901656a993dcc9501fd6517d9b86d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_70_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.29389196420616065,
+              1.048184583739113
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+            "initial_z": 0.7565866266178553,
+            "lift_margin": 0.19159795712125782,
+            "gripper_z": 1.049269988981305,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3072763888809039,
+              0.2886868340434872,
+              1.049269988981305
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+              0.00596625395226652,
+              0.0052051301626734325,
+              -0.001085405242192028
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+            "object_to_gripper_xy": 0.007917674294469849,
+            "object_to_gripper_z": -0.001085405242192028,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31324264283317044,
+              0.2686801763584456,
+              1.048184583739113
+            ],
+            "finger_b": [
+              0.301081150739181,
+              0.29389196420616065,
+              1.048184583739113
+            ],
+            "finger_midpoint": [
+              0.3071618967861757,
+              0.2812860702823031,
+              1.048184583739113
+            ],
+            "object_minus_finger_midpoint": [
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+              0.7891628115499773
+            ],
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+              -0.43893676996231074,
+              0.7682599425315857
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+            "closest_contact_pad_minus_button": [
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+              -0.0007193850415989078,
+              0.020902869018391557
+            ]
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "30c3dba6409a5278aad9af0812178d9dcc85af668f2a87e2b5fe7ebf0e05b409",
+    "visual_seed": 8766299480601266133,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..34138f55bfb3c276da0d2187f8f362febf190c10
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_71_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "floor",
+                "ground",
+                "groundplane",
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+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
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+            "source_missing": false,
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3220782952392262,
+              -0.37760549660474046,
+              0.847019750362614
+            ],
+            "target_position": [
+              0.31461876533417804,
+              -0.37958907267080666,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0077187538122535405,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18664800249861002,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019750362614,
+            "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": 0.07514489410438846,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08641822713882556,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15593327389477515,
+            "release_required_pad_clearance": 0.05320911356941278,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4396419536501528,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008764147758483887,
+            "max_z_decrease": 0.008764147758483887,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504209355094602,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008764147758483887,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020963651105552743,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008764147758483887,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008764408336181067,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17031869292259216,
+              -0.4358505308628082,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17031869292259216,
+              -0.4358505308628082,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17184581358698806,
+              -0.4358771607299462,
+              0.803051734235717
+            ],
+            "closest_button": [
+              0.17028063535690308,
+              -0.4357946813106537,
+              0.7680447101593018
+            ],
+            "closest_ee_minus_button": [
+              0.0015651782300849792,
+              -8.247941929251379e-05,
+              0.035007024076415205
+            ],
+            "button_min_z_position": [
+              0.17028063535690308,
+              -0.4357946813106537,
+              0.7680447101593018
+            ],
+            "min_active_finger_to_button": 0.14427483522379872,
+            "closest_active_finger": [
+              0.031143605709075928,
+              -0.4196242094039917,
+              0.8098285794258118
+            ],
+            "closest_active_finger_button": [
+              0.1703219711780548,
+              -0.43585404753685,
+              0.7754599452018738
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13917836546897888,
+              0.016229838132858276,
+              0.03436863422393799
+            ],
+            "min_contact_pad_to_button": 0.020963651105552743,
+            "closest_contact_pad": [
+              0.17028063535690308,
+              -0.43706599395297957,
+              0.7889697772282697
+            ],
+            "closest_contact_pad_button": [
+              0.17028063535690308,
+              -0.4357946813106537,
+              0.7680447101593018
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012713126423258836,
+              0.020925067068967906
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3a3ad7e57e6fdcd16246c8c4b04fd34c7927ad5cdd8b7314b388dc5152fe4635",
+    "visual_seed": 8732040095967017778,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..55578402efb7840e5d6015be928091f61bfe3870
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_72_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.31709045676176295,
+              0.2999758357533686,
+              1.0494156689884073
+            ],
+            "current_z": 1.0494156689884073,
+            "required_z": 0.8565866266178549,
+            "initial_z": 0.7565866266178549,
+            "lift_margin": 0.19282904237055243,
+            "gripper_z": 1.0503000427758382,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31116464790114307,
+              0.29475403292220365,
+              1.0503000427758382
+            ],
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+              0.0059258088606198855,
+              0.005221802831164968,
+              -0.0008843737874308921
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+            "object_to_gripper_xy": 0.007898255216195766,
+            "object_to_gripper_z": -0.0008843737874308921,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31709045676176295,
+              0.274839758065129,
+              1.0494156689884073
+            ],
+            "finger_b": [
+              0.30484385795703056,
+              0.2999758357533686,
+              1.0494156689884073
+            ],
+            "finger_midpoint": [
+              0.31096715735939673,
+              0.2874077969092488,
+              1.0494156689884073
+            ],
+            "object_minus_finger_midpoint": [
+              0.006123299402366222,
+              0.012568038844119833,
+              0.0
+            ],
+            "finger_gap": 0.027960715009335686,
+            "fingertip_max_gap": 0.09235660693121475,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013980357504667881,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0494156689884073,
+            "object_top_z": 1.0952112907811289,
+            "finger_top_clearance": 0.045795621792721564,
+            "fingertip_min_top_clearance": 0.013738686537816468,
+            "object_projection_between_fingers": 0.8081620894796574,
+            "object_to_finger_line_xy": 0.011009427293603708,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867830346560738,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.112145995190706,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f044fd27b8a1979b3f95f70dcf1c43c5be1ec8b014875b56129a8869724a03a",
+    "visual_seed": 6246000185832895495,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a8b1011b36e06c931bce63517299654385534cb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_73_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.2971047428041479,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2954616997231248,
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+              0.3002553797988741,
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+            "held_shake_count": 5,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "release_required_pad_clearance": 0.05311791007351681,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.2617412807190724,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008721113204956055,
+            "max_z_decrease": 0.008721113204956055,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500888831936726,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008721113204956055,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02083566470355085,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008721113204956055,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008721220048418327,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1713084876537323,
+              -0.4373968541622162,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1713084876537323,
+              -0.4373968541622162,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16980205670683926,
+              -0.4370972019481994,
+              0.8034356933408089
+            ],
+            "closest_button": [
+              0.17130379378795624,
+              -0.4373463094234466,
+              0.7684599161148071
+            ],
+            "closest_ee_minus_button": [
+              -0.0015017370811169772,
+              0.0002491074752472011,
+              0.03497577722600176
+            ],
+            "button_min_z_position": [
+              0.17130593955516812,
+              -0.4373537600040436,
+              0.7680877447128296
+            ],
+            "min_active_finger_to_button": 0.14694305474657118,
+            "closest_active_finger": [
+              0.04396791011095047,
+              -0.5022966265678406,
+              0.8109249472618103
+            ],
+            "closest_active_finger_button": [
+              0.17130820453166962,
+              -0.437398225069046,
+              0.7767941951751709
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12734029442071915,
+              -0.06489840149879456,
+              0.034130752086639404
+            ],
+            "min_contact_pad_to_button": 0.02083566470355085,
+            "closest_contact_pad": [
+              0.17130593955516812,
+              -0.43804324721372623,
+              0.7889119981454614
+            ],
+            "closest_contact_pad_button": [
+              0.17130593955516812,
+              -0.4373537600040436,
+              0.7680877447128296
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006894872096826488,
+              0.020824253432631834
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1a0cde68d08876e72e49c2b22a77d3725bb71b873398b43321574bfd093b3da0",
+    "visual_seed": 8945515418644110556,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff2aa89786f76aa61b725b06e5756e46e4ec0d45
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_75_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3146141854448722,
+              0.2947198403342116,
+              1.047508874226426
+            ],
+            "current_z": 1.047508874226426,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.19092236681786035,
+            "gripper_z": 1.0473343777359763,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.309045486721939,
+              0.2895782596741858,
+              1.0473343777359763
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+              0.005568698722933196,
+              0.005141580660025791,
+              0.00017449649044976034
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+            "object_to_gripper_xy": 0.0075793309170631325,
+            "object_to_gripper_z": 0.00017449649044976034,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3146141854448722,
+              0.2700443668258031,
+              1.047508874226426
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+            "finger_b": [
+              0.30218908260264526,
+              0.2947198403342116,
+              1.047508874226426
+            ],
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+              0.30840163402375875,
+              0.28238210358000737,
+              1.047508874226426
+            ],
+            "object_minus_finger_midpoint": [
+              0.0062125514211134325,
+              0.012337736754204243,
+              0.0
+            ],
+            "finger_gap": 0.027627199885331976,
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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": 0.011097588510423095,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867965959465302,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9326302151240926,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3151835870580038,
+              0.29192456517002097,
+              1.235642172015803
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+            "held_position": [
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+              0.29649418623909574,
+              1.235670723720399
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0075818931323518215,
+            "max_held_gripper_dist": 0.007582984805018547,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 2.855170459592493e-05,
+            "max_held_gripper_z_dist": 0.00018843248709554672,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08824994339621381,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.27057793874570885,
+              1.235670723720399
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+              0.28353606249240226,
+              1.235670723720399
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+            "held_grasp_object_position": [
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+              0.29649418623909574,
+              1.235670723720399
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+            "held_grasp_finger_gap": 0.027750485310562588,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02482623973706106,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09653740859584109,
+              -0.9948987560233313,
+              0.029274459940837105
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037068571074824553,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03182930244237791,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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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",
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+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.33142718360841195,
+              -0.38395201238061766,
+              0.8470197638822683
+            ],
+            "target_position": [
+              0.3228463675164118,
+              -0.38629210223037896,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008894179293767589,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18992079868324227,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197638822683,
+            "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": 0.07564068288176959,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555548502849995,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1579358568331082,
+            "release_required_pad_clearance": 0.05277774251424998,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6026312281391737,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008825898170471191,
+            "max_z_decrease": 0.008825898170471191,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501867838114697,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008825898170471191,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.0208941156673641,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008825898170471191,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008826203141425785,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17854629456996912,
+              -0.44255355000495905,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17854629456996912,
+              -0.44255355000495905,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17717592637265236,
+              -0.4411195944742446,
+              0.8029449632694893
+            ],
+            "closest_button": [
+              0.1786037534475326,
+              -0.4425079226493835,
+              0.7679829597473145
+            ],
+            "closest_ee_minus_button": [
+              -0.0014278270748802335,
+              0.0013883281751388976,
+              0.03496200352217482
+            ],
+            "button_min_z_position": [
+              0.1786037534475326,
+              -0.4425079226493835,
+              0.7679829597473145
+            ],
+            "min_active_finger_to_button": 0.1464829425978076,
+            "closest_active_finger": [
+              0.04998372495174408,
+              -0.5037492513656616,
+              0.8106136918067932
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+            "closest_active_finger_button": [
+              0.17854958772659296,
+              -0.4425551295280456,
+              0.7762138247489929
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12856586277484888,
+              -0.06119412183761602,
+              0.03439986705780029
+            ],
+            "min_contact_pad_to_button": 0.0208941156673641,
+            "closest_contact_pad": [
+              0.1786037534475326,
+              -0.4425079226493835,
+              0.7888770754146786
+            ],
+            "closest_contact_pad_button": [
+              0.1786037534475326,
+              -0.4425079226493835,
+              0.7679829597473145
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.0208941156673641
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2ca108fa8f3398cbeb35c7b30d66937d8ee55c98a0362c2815b6b615dd518227",
+    "visual_seed": 7842406159739341840,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..222f028b61cdbc1999281d6d248a9ec6e4fc5f0c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_77_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.29849194320492894,
+              1.0473341539202636
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+            "lift_margin": 0.19074746769776374,
+            "gripper_z": 1.0472882028039772,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.3045047717113965,
+              0.2933506546329271,
+              1.0472882028039772
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+            "object_minus_gripper": [
+              0.005443440056479121,
+              0.005141288572001856,
+              4.5951116286468974e-05
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+            "object_to_gripper_xy": 0.00748758224189079,
+            "object_to_gripper_z": 4.5951116286468974e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3099482117678756,
+              0.273923177749853,
+              1.0473341539202636
+            ],
+            "finger_b": [
+              0.29751913843727773,
+              0.29849194320492894,
+              1.0473341539202636
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+            "finger_midpoint": [
+              0.30373367510257665,
+              0.28620756047739093,
+              1.0473341539202636
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+            "object_minus_finger_midpoint": [
+              0.006214536665298975,
+              0.012284382727538012,
+              0.0
+            ],
+            "finger_gap": 0.027533726588384547,
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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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+            "closest_contact_pad_minus_button": [
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+              0.020867299134059936
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1f5b64b43750aa3a3db6ea9f614ac21fa55514e07ed281364972206e857c360c",
+    "visual_seed": 4794400939941802808,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..db38353430e9e15621cbfc8919d795f4af16beb9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_78_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+            "stable_success_frames": 226,
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+          "failure_messages": {},
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+              "allowed_objects": [
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "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",
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+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+      "physical_semantics": {
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008269976265449182,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18783113858276523,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470202368702189,
+            "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": 0.07538607495625409,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0883255583163448,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1564833741828248,
+            "release_required_pad_clearance": 0.0541627791581724,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.3378855508158707,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008624792098999023,
+            "max_z_decrease": 0.008624792098999023,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035055750880200985,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008624792098999023,
+            "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": 0.020929812790841607,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008624792098999023,
+            "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": 0.008624977804652,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17338110506534576,
+              -0.44037327170372,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17338110506534576,
+              -0.44037327170372,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17331231334225272,
+              -0.43816061450338983,
+              0.8031718965272251
+            ],
+            "closest_button": [
+              0.17342598736286163,
+              -0.4403387904167174,
+              0.7681840658187866
+            ],
+            "closest_ee_minus_button": [
+              -0.00011367402060891152,
+              0.0021781759133275846,
+              0.03498783070843847
+            ],
+            "button_min_z_position": [
+              0.17342598736286163,
+              -0.4403387904167174,
+              0.7681840658187866
+            ],
+            "min_active_finger_to_button": 0.14498297945290964,
+            "closest_active_finger": [
+              0.045948006212711334,
+              -0.5003708600997925,
+              0.8108457922935486
+            ],
+            "closest_active_finger_button": [
+              0.17338530719280243,
+              -0.4403760433197021,
+              0.7764885425567627
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1274373009800911,
+              -0.05999481678009039,
+              0.03435724973678589
+            ],
+            "min_contact_pad_to_button": 0.020929812790841607,
+            "closest_contact_pad": [
+              0.17342598736286163,
+              -0.4403387904167174,
+              0.7891138786096282
+            ],
+            "closest_contact_pad_button": [
+              0.17342598736286163,
+              -0.4403387904167174,
+              0.7681840658187866
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020929812790841607
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "23783b5a48ce04268b1f6b58046aeb09f80440f4ec01dbcbb13c01ea8377874e",
+    "visual_seed": 7231426828853001181,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d932a675c9fdb9c9a8ef1e2b325abf0d25061689
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_7_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3148806477694609,
+              0.29220869320769505,
+              1.0474659903163148
+            ],
+            "current_z": 1.0474659903163148,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19087942330310448,
+            "gripper_z": 1.0470985728783757,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.309542317295494,
+              0.287154543583667,
+              1.0470985728783757
+            ],
+            "object_minus_gripper": [
+              0.0053383304739669235,
+              0.005054149624028059,
+              0.0003674174379391104
+            ],
+            "object_to_gripper_xy": 0.007351340059563759,
+            "object_to_gripper_z": 0.0003674174379391104,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3148806477694609,
+              0.26771671781938866,
+              1.0474659903163148
+            ],
+            "finger_b": [
+              0.30255872654212623,
+              0.29220869320769505,
+              1.0474659903163148
+            ],
+            "finger_midpoint": [
+              0.30871968715579357,
+              0.27996270551354185,
+              1.0474659903163148
+            ],
+            "object_minus_finger_midpoint": [
+              0.006160960613667332,
+              0.012245987694153193,
+              0.0
+            ],
+            "finger_gap": 0.02741690356612224,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01370845178306112,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474659903163148,
+            "object_top_z": 1.093788189330981,
+            "finger_top_clearance": 0.04632219901466628,
+            "fingertip_min_top_clearance": 0.01389665970439985,
+            "object_projection_between_fingers": 0.7980145681730391,
+            "object_to_finger_line_xy": 0.011007376916532448,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851936515375328,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7637757009610051,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f5148c863e3b2d6cf532bb252407577be622ca234f389b0699f9f59cba1f5f8",
+    "visual_seed": 5122614874308301050,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..65568540da0c59350e5220a9c7e39fbddf56c4ec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_80_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+              1.047513332751908
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+              0.2858340775090242,
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+              0.0053765517325161105,
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+              0.26613282465575383,
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+              1.047513332751908
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+              0.27867172694864706,
+              1.047513332751908
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+              0.012538902292893228,
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+              0.0,
+              1.0
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+            "stable_success_frames": 225,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.289705488810673,
+              1.2356567687603315
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+              0.2946701322200777,
+              1.2356828929592376
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+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 2.6124198906130047e-05,
+            "max_held_gripper_z_dist": 0.00016743853071266024,
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+              0.2817353435152624,
+              1.2356828929592376
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+              0.2946701322200777,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+              0.026333904705083226
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+            "held_grasp_object_to_finger_line_xy": 0.005001659000797478,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_min_pad_clearance": 0.15421988352935317,
+            "release_required_pad_clearance": 0.053312207313913604,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6413522074753615,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008467793464660645,
+            "max_z_decrease": 0.008467793464660645,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499850031668324,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008467793464660645,
+            "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": 0.0210370928929389,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008467793464660645,
+            "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": 0.008467887275882534,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1698731780052185,
+              -0.43547096848487854,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1698731780052185,
+              -0.43547096848487854,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17019386101513212,
+              -0.4360095790520342,
+              0.803531180230788
+            ],
+            "closest_button": [
+              0.1698957234621048,
+              -0.4354467988014221,
+              0.7685384750366211
+            ],
+            "closest_ee_minus_button": [
+              0.00029813755302732226,
+              -0.0005627802506120716,
+              0.03499270519416686
+            ],
+            "button_min_z_position": [
+              0.1698942631483078,
+              -0.43543714284896845,
+              0.768341064453125
+            ],
+            "min_active_finger_to_button": 0.14544268599853552,
+            "closest_active_finger": [
+              0.029649026691913605,
+              -0.41805270314216614,
+              0.810436487197876
+            ],
+            "closest_active_finger_button": [
+              0.169877290725708,
+              -0.43547362089157104,
+              0.7759963870048523
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1402282640337944,
+              0.017420917749404907,
+              0.03444010019302368
+            ],
+            "min_contact_pad_to_button": 0.0210370928929389,
+            "closest_contact_pad": [
+              0.1698942631483078,
+              -0.4373446875436946,
+              0.7892914952511721
+            ],
+            "closest_contact_pad_button": [
+              0.1698942631483078,
+              -0.43543714284896845,
+              0.768341064453125
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019075446947261487,
+              0.020950430798047148
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "23e30f7222e2d8d865291bb405aaeffd82f8c8713b6c80764ce5680b10374800",
+    "visual_seed": 5426174863595130697,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe885ddd7fc9c735eac26b6bf2a93acd59c03592
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_81_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31105935962139347,
+              0.29496139114876047,
+              1.0492828356154202
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+            "lift_margin": 0.1926962686022099,
+            "gripper_z": 1.049116370966171,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3056744804803174,
+              0.28997365002497427,
+              1.049116370966171
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+              0.005384879141076049,
+              0.0049877411237861935,
+              0.00016646464924918725
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+            "object_to_gripper_xy": 0.007339924037883763,
+            "object_to_gripper_z": 0.00016646464924918725,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31105935962139347,
+              0.270251022232667,
+              1.0492828356154202
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+            "finger_b": [
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+              1.0492828356154202
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+            "finger_midpoint": [
+              0.30507667875508127,
+              0.28260620669071373,
+              1.0492828356154202
+            ],
+            "object_minus_finger_midpoint": [
+              0.005982680866312207,
+              0.01235518445804673,
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+            ],
+            "finger_gap": 0.02745491237214193,
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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": 0.04823819483923043,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3113206433655919,
+              0.2932727190169033,
+              1.23886326780746
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+              0.2978532906596333,
+              1.2389297499100236
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007341618969915524,
+            "max_held_gripper_dist": 0.0073439512158470265,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 6.648210256354758e-05,
+            "max_held_gripper_z_dist": 0.00017974903616835292,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08838574813835123,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.2722167099539211,
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+              0.2850350003067772,
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+            "held_grasp_object_position": [
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+            "held_grasp_finger_gap": 0.027564960134603793,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024791745437066064,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07572762404981735,
+              -0.9969650912146598,
+              0.01805363827915785
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004085918921979365,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_top_clearance": 0.032037321662641484,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32194465432618175,
+              -0.386853066236138,
+              0.8470195895162065
+            ],
+            "target_position": [
+              0.31405467245169794,
+              -0.38889019992290896,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008148725522280157,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18998435772287467,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195895162065,
+            "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": 0.07560478170344438,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08524524364821011,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15803625453461537,
+            "release_required_pad_clearance": 0.052622621824105056,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.30646679267509197,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008669555187225342,
+            "max_z_decrease": 0.008669555187225342,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505973546748413,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008669555187225342,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02084456270385593,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008669555187225342,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008669637940121381,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16975459456443787,
+              -0.4451516568660736,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16975459456443787,
+              -0.4451516568660736,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17027399888900469,
+              -0.44312767902777367,
+              0.8031389308584784
+            ],
+            "closest_button": [
+              0.16975857317447662,
+              -0.4451139867305756,
+              0.7681393027305603
+            ],
+            "closest_ee_minus_button": [
+              0.0005154257145280616,
+              0.0019863077028019482,
+              0.034999628127918125
+            ],
+            "button_min_z_position": [
+              0.16975857317447662,
+              -0.4451139867305756,
+              0.7681393027305603
+            ],
+            "min_active_finger_to_button": 0.1444601320287517,
+            "closest_active_finger": [
+              0.0443686842918396,
+              -0.5082513093948364,
+              0.8106321096420288
+            ],
+            "closest_active_finger_button": [
+              0.1697545051574707,
+              -0.4451524615287781,
+              0.776490330696106
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1253858208656311,
+              -0.06309884786605835,
+              0.03414177894592285
+            ],
+            "min_contact_pad_to_button": 0.02084456270385593,
+            "closest_contact_pad": [
+              0.16975857317447662,
+              -0.4451139867305756,
+              0.7889838654344162
+            ],
+            "closest_contact_pad_button": [
+              0.16975857317447662,
+              -0.4451139867305756,
+              0.7681393027305603
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02084456270385593
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96d0e8973d965a4e427ccd21a36bf015d8da7c572c097816e1015942224bcbb7",
+    "visual_seed": 8364671024914715978,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de64195feb5b5da38b29093c57701bfb2e7d475a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.29254992650149175,
+              1.049153276244977
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+            "lift_margin": 0.19256664962712178,
+            "gripper_z": 1.050213960746753,
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+            "gripper_position": [
+              0.3038104769806358,
+              0.287587151974798,
+              1.050213960746753
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+              0.005547090334131977,
+              0.004962774526693747,
+              -0.00106068450177621
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+            "object_to_gripper_z": -0.00106068450177621,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30935756731476777,
+              0.26755999093818106,
+              1.049153276244977
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+            "finger_b": [
+              0.2976415786396856,
+              0.29254992650149175,
+              1.049153276244977
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+            "finger_midpoint": [
+              0.3034995729772267,
+              0.28005495871983643,
+              1.049153276244977
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+              0.005857994337541084,
+              0.01249496778165532,
+              0.0
+            ],
+            "finger_gap": 0.027600023008922912,
+            "fingertip_max_gap": 0.09133811365566616,
+            "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": 1.0945143609603951,
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+            "fingertip_min_top_clearance": 0.013608325414625432,
+            "object_projection_between_fingers": 0.8198065509186595,
+            "object_to_finger_line_xy": 0.010608027462735327,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04816905682783308,
+            "require_object_upright": true,
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+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e294df84d9c31e0a55a3e8fa119f6676789676be4aeb24545d5db742bd6c48be",
+    "visual_seed": 6349997225995919487,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9e39e70c83147d306b0fe76fcdae37714b1cc24
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_83_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.2951305276967961,
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+              0.005020743197932387,
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+              1.0
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+            "stable_success_frames": 228,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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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",
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+            "source_missing": false,
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+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "held_shake_count": 5,
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+            "held_grasp_z_skew": 0.02484076815506542,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
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+            "min_z_margin": 0.2,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521500819431046,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08618854097257315,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15451144839750428,
+            "release_required_pad_clearance": 0.05309427048628658,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2156139028186568,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008741557598114014,
+            "max_z_decrease": 0.008741557598114014,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506310476808754,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008741557598114014,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02086304709463338,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008741557598114014,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008741685892767718,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1705348491668701,
+              -0.43770503997802734,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1705348491668701,
+              -0.43770503997802734,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17119173963051224,
+              -0.4356092118286237,
+              0.8030641539973984
+            ],
+            "closest_button": [
+              0.17052662372589109,
+              -0.4376583993434906,
+              0.7680673003196716
+            ],
+            "closest_ee_minus_button": [
+              0.0006651159046211497,
+              0.0020491875148668792,
+              0.03499685367772676
+            ],
+            "button_min_z_position": [
+              0.17052662372589109,
+              -0.4376583993434906,
+              0.7680673003196716
+            ],
+            "min_active_finger_to_button": 0.14432935815151218,
+            "closest_active_finger": [
+              0.04501903057098389,
+              -0.5002261400222778,
+              0.810279130935669
+            ],
+            "closest_active_finger_button": [
+              0.17053502798080442,
+              -0.4377077519893647,
+              0.7761009335517883
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12551599740982053,
+              -0.06251838803291315,
+              0.034178197383880615
+            ],
+            "min_contact_pad_to_button": 0.02086304709463338,
+            "closest_contact_pad": [
+              0.17052662372589109,
+              -0.4376583993434906,
+              0.788930347414305
+            ],
+            "closest_contact_pad_button": [
+              0.17052662372589109,
+              -0.4376583993434906,
+              0.7680673003196716
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02086304709463338
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "86bf1b15ca2e89c789451499d72641121598fcc6f8a9b45c48b50ef9e9ab6e46",
+    "visual_seed": 8276137929967477845,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..50c3ef5a1d64b672db4253ac3ee3c4c9009deaad
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_84_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31218545041351947,
+              0.29827689467758345,
+              1.051233333510834
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+            "gripper_z": 1.0511461349075297,
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+            "gripper_position": [
+              0.30688069419551767,
+              0.2933050509084357,
+              1.0511461349075297
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+              0.005304756218001805,
+              0.004971843769147721,
+              8.719860330419493e-05
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+            "object_to_gripper_xy": 0.007270465528234201,
+            "object_to_gripper_z": 8.719860330419493e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31218545041351947,
+              0.2736644108272206,
+              1.051233333510834
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+            "finger_b": [
+              0.30019213748888074,
+              0.29827689467758345,
+              1.051233333510834
+            ],
+            "finger_midpoint": [
+              0.30618879395120013,
+              0.285970652752402,
+              1.051233333510834
+            ],
+            "object_minus_finger_midpoint": [
+              0.005996656462319339,
+              0.012306241925181427,
+              0.0
+            ],
+            "finger_gap": 0.02737907807419159,
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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": 0.04778887953679052,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
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+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5264412e48a6390683f7ac649eb1217110e1003
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_85_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "reason": "executed",
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+              1.0482806340134356
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+              0.295422476641507,
+              1.0482420246827835
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+              0.0050668514933381315,
+              3.860933065213956e-05
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+            "object_to_gripper_z": 3.860933065213956e-05,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.27589005742046785,
+              1.0482806340134356
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+              0.30048932813484514,
+              1.0482806340134356
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+              0.2881896927776565,
+              1.0482806340134356
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+              0.012299635357188643,
+              0.0
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2983432239229205,
+              1.2377218674882402
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+              0.30290268719353297,
+              1.2376554990124997
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+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.0074180412724236255,
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+            "held_gripper_z_dist": 6.636847574048588e-05,
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+              0.2900047195277035,
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+              0.30290268719353297,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              0.02732100741085497
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
+            },
+            "failed_keys": []
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0543452086858744,
+            "object_max_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"
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
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+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+            "failed_keys": []
+          }
+        },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008586525917053223,
+            "max_z_decrease": 0.008586525917053223,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504256874575168,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008586525917053223,
+            "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": 0.021057870823511293,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008586525917053223,
+            "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": 0.008586599426133209,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17665687203407282,
+              -0.43562743067741394,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17665687203407282,
+              -0.43562743067741394,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17730912667682447,
+              -0.4338341185718416,
+              0.8032148084773021
+            ],
+            "closest_button": [
+              0.17667324841022486,
+              -0.43559589982032776,
+              0.7682223320007324
+            ],
+            "closest_ee_minus_button": [
+              0.0006358782665996099,
+              0.0017617812484861384,
+              0.03499247647656967
+            ],
+            "button_min_z_position": [
+              0.17667324841022486,
+              -0.43559589982032776,
+              0.7682223320007324
+            ],
+            "min_active_finger_to_button": 0.1446182584699483,
+            "closest_active_finger": [
+              0.049342624843120575,
+              -0.49483153223991394,
+              0.8093490600585938
+            ],
+            "closest_active_finger_button": [
+              0.17666386067867274,
+              -0.4356299042701721,
+              0.7747237682342529
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12732123583555216,
+              -0.05920162796974182,
+              0.03462529182434082
+            ],
+            "min_contact_pad_to_button": 0.021057870823511293,
+            "closest_contact_pad": [
+              0.17667324841022486,
+              -0.43559589982032776,
+              0.7892802028242437
+            ],
+            "closest_contact_pad_button": [
+              0.17667324841022486,
+              -0.43559589982032776,
+              0.7682223320007324
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021057870823511293
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dd6f166a562ce9bcf16ce12f3f75c955aa6905b2a50c303c5e66c3da9b765062",
+    "visual_seed": 4022655471715731745,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8492a98d18d21b60b991d09810bb8855fddf26f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_86_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.31716424573211327,
+              0.29737845049287864,
+              1.0479606896418907
+            ],
+            "current_z": 1.0479606896418907,
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+            "lift_margin": 0.19137418223332536,
+            "gripper_z": 1.0475956818663203,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3117573070780746,
+              0.2922482971406811,
+              1.0475956818663203
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+            "object_minus_gripper": [
+              0.005406938654038684,
+              0.0051301533521975196,
+              0.00036500777557035846
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+            "object_to_gripper_xy": 0.007453419284167577,
+            "object_to_gripper_z": 0.00036500777557035846,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31716424573211327,
+              0.27283054847815646,
+              1.0479606896418907
+            ],
+            "finger_b": [
+              0.30475847414784224,
+              0.29737845049287864,
+              1.0479606896418907
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+            "finger_midpoint": [
+              0.31096135993997776,
+              0.2851044994855175,
+              1.0479606896418907
+            ],
+            "object_minus_finger_midpoint": [
+              0.006202885792135515,
+              0.012273951007361117,
+              0.0
+            ],
+            "finger_gap": 0.027504593469555368,
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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": 1.0940396231180793,
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+            "object_projection_between_fingers": 0.7965596469820998,
+            "object_to_finger_line_xy": 0.011072174748003394,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04822804495488893,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6533582302392299,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.29525878959179747,
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+            "held_position": [
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+              0.299851442113844,
+              1.2365599929366329
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007463679215986628,
+            "max_held_gripper_dist": 0.007465792689973727,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002417016439415498,
+            "max_held_gripper_z_dist": 0.0003776945303175516,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08884588586962405,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2740561648654511,
+              1.2365599929366329
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+              0.28695380348964755,
+              1.2365599929366329
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+            "held_grasp_object_position": [
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+              0.299851442113844,
+              1.2365599929366329
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+            "held_grasp_finger_gap": 0.0276680777586342,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024719295270176796,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09516037467061098,
+              -0.9952015260530125,
+              0.022768962082279742
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003765001650747723,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031888373318337986,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.3270421284357982,
+              -0.3820139186666817,
+              0.8470201997988671
+            ],
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+              0.3188098049325232,
+              -0.38416198961239256,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008507958571266162,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18986431612745805,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470201997988671,
+            "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": 0.07532330167454976,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863475144838594,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15866862395626544,
+            "release_required_pad_clearance": 0.0531737572419297,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3699974127964172,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008684039115905762,
+            "max_z_decrease": 0.008684039115905762,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499309614114448,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008684039115905762,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.0208805932137768,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008684039115905762,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008684260221985204,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17450973391532892,
+              -0.440423458814621,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17450973391532892,
+              -0.440423458814621,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17418185330734776,
+              -0.4398620833777016,
+              0.8031121363740126
+            ],
+            "closest_button": [
+              0.17455261945724482,
+              -0.4403787255287171,
+              0.7681248188018799
+            ],
+            "closest_ee_minus_button": [
+              -0.0003707661498970616,
+              0.0005166421510154895,
+              0.03498731757213269
+            ],
+            "button_min_z_position": [
+              0.17455261945724482,
+              -0.4403787255287171,
+              0.7681248188018799
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+            "min_active_finger_to_button": 0.14584264537087882,
+            "closest_active_finger": [
+              0.04776287078857422,
+              -0.5039334297180176,
+              0.8106839656829834
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+            "closest_active_finger_button": [
+              0.17451129853725428,
+              -0.44042533636093145,
+              0.7764548063278198
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12674842774868006,
+              -0.06350809335708613,
+              0.034229159355163574
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+            "min_contact_pad_to_button": 0.0208805932137768,
+            "closest_contact_pad": [
+              0.17455261945724482,
+              -0.44093106454415554,
+              0.7889981054278822
+            ],
+            "closest_contact_pad_button": [
+              0.17455261945724482,
+              -0.4403787255287171,
+              0.7681248188018799
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005523390154384411,
+              0.020873286626002296
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "740ee2fcce8303f4639f9a9557a8b5c27baeb62847e8d3f41ddcaa5302d70086",
+    "visual_seed": 2625709613782530595,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4788da7aac4dce0966426e042a950807936c5e4c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_87_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.3027190538143908,
+              1.048993905472205
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+            "gripper_z": 1.0497590520270184,
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+              0.297582198006475,
+              1.0497590520270184
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+              0.0051368558079157856,
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+            "object_to_gripper_z": -0.0007651465548133007,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3171920826841258,
+              0.27760825599796435,
+              1.048993905472205
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+              1.048993905472205
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+              0.31115500320679174,
+              0.29016365490617757,
+              1.048993905472205
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+              0.012555398908213222,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 1.194727328656608,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
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+            "stable_success_frames": 227,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
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+              "allowed_objects": [
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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": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ab218b0c2dff9caa4392b0ef775ecad21458294995c63aeb8815801911cd10e4",
+    "visual_seed": 4423194492718634829,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6afd6596765625862355fc1f068c9e5c7f21c255
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_88_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_required_pad_clearance": 0.05299737657685531,
+            "release_pad_clearance_ok": true,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0233402088846555,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00885307788848877,
+            "max_z_decrease": 0.00885307788848877,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035022461950711965,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00885307788848877,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02108226735812883,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00885307788848877,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008853562639559177,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1739865243434906,
+              -0.4419778585433959,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1739865243434906,
+              -0.4419778585433959,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17446170674232156,
+              -0.4431168379522553,
+              0.8033650189361488
+            ],
+            "closest_button": [
+              0.17393751442432404,
+              -0.44192016124725336,
+              0.7683669328689575
+            ],
+            "closest_ee_minus_button": [
+              0.0005241923179975239,
+              -0.0011966767050019533,
+              0.034998086067191236
+            ],
+            "button_min_z_position": [
+              0.1739223152399063,
+              -0.44191107153892506,
+              0.7679557800292969
+            ],
+            "min_active_finger_to_button": 0.1451877527145566,
+            "closest_active_finger": [
+              0.03384009003639221,
+              -0.4261534810066223,
+              0.8094568848609924
+            ],
+            "closest_active_finger_button": [
+              0.17399080097675323,
+              -0.4419817328453063,
+              0.775007963180542
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14015071094036102,
+              0.01582825183868397,
+              0.03444892168045044
+            ],
+            "min_contact_pad_to_button": 0.02108226735812883,
+            "closest_contact_pad": [
+              0.1739223152399063,
+              -0.44435532858141824,
+              0.7888958756467922
+            ],
+            "closest_contact_pad_button": [
+              0.1739223152399063,
+              -0.44191107153892506,
+              0.7679557800292969
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002444257042493181,
+              0.020940095617495325
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5049509568bce63b7943decc088d05598998bfc9940a66039c1753e0be308f33",
+    "visual_seed": 1352262231049367296,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..513f15e26c41f24d7aabc59d5e30266a0795e6f4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_89_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.3151325736694441,
+              0.29959183698911546,
+              1.0474574031809247
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+            "gripper_z": 1.048094051934726,
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+            "gripper_position": [
+              0.30906967853609096,
+              0.294327461627781,
+              1.048094051934726
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+              0.00526437536133445,
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+            "object_to_gripper_z": -0.0006366487538012056,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3151325736694441,
+              0.2744061930850598,
+              1.0474574031809247
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+            "finger_b": [
+              0.302766693274026,
+              0.29959183698911546,
+              1.0474574031809247
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+            "finger_midpoint": [
+              0.30894963347173504,
+              0.28699901503708763,
+              1.0474574031809247
+            ],
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+              0.0061829401977090415,
+              0.012592821952027822,
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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": 0.8057560355584273,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04976658295635829,
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+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3143743506015243,
+              0.2984466753041606,
+              1.238241574600952
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+            "held_position": [
+              0.32069594030843834,
+              0.30338575656684996,
+              1.2375321476824848
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+                "ridgebase",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+                "robot",
+                "robotiq_2f85",
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+                "split_aloha",
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+                "base_link",
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            "failed_keys": []
+          }
+        },
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+      },
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+        "attach_allowed": false,
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+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              -0.3842451898819087,
+              0.8470196636572563
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+              0.3146699016007039,
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+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006432543778618709,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18763314245804072,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196636572563,
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578625329193121,
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+            "release_fingertip_min_gap": 0.08733808373653955,
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+            "release_gap_missing_size": false,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00850832462310791,
+            "max_z_decrease": 0.00850832462310791,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035056000165675866,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00850832462310791,
+            "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": 0.0208819312198939,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00850832462310791,
+            "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": 0.008508538439873458,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17036983370780942,
+              -0.44210663437843317,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17036983370780942,
+              -0.44210663437843317,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1689768911347439,
+              -0.4401115535351625,
+              0.8032710388023294
+            ],
+            "closest_button": [
+              0.17042551934719086,
+              -0.44208344817161555,
+              0.7683005332946777
+            ],
+            "closest_ee_minus_button": [
+              -0.0014486282124469563,
+              0.001971894636453031,
+              0.034970505507651684
+            ],
+            "button_min_z_position": [
+              0.17042551934719086,
+              -0.44208344817161555,
+              0.7683005332946777
+            ],
+            "min_active_finger_to_button": 0.1462164244100759,
+            "closest_active_finger": [
+              0.04136840999126434,
+              -0.5017918348312378,
+              0.810908854007721
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+            "closest_active_finger_button": [
+              0.17037230730056763,
+              -0.442108929157257,
+              0.7766278386116028
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12900389730930328,
+              -0.05968290567398077,
+              0.034281015396118164
+            ],
+            "min_contact_pad_to_button": 0.0208819312198939,
+            "closest_contact_pad": [
+              0.17042551934719086,
+              -0.44208344817161555,
+              0.7891824645145716
+            ],
+            "closest_contact_pad_button": [
+              0.17042551934719086,
+              -0.44208344817161555,
+              0.7683005332946777
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.0208819312198939
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "87e0a5c92406cc6fed24cbb4b2990d7f48013e2e9432b0735eb2d0a150b1d708",
+    "visual_seed": 1909750018542648985,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5f797df42d2cc77234c67bbf85a955400a2c3d9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_8_success.json
@@ -0,0 +1,926 @@
+{
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498808723177555,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008749008178710938,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02091835171445092,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008749008178710938,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008749211546897147,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17755940556526179,
+              -0.43882545828819275,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17755940556526179,
+              -0.43882545828819275,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.177056898060201,
+              -0.43868642596432733,
+              0.8034184622690481
+            ],
+            "closest_button": [
+              0.1775320768356323,
+              -0.4387649595737457,
+              0.768433690071106
+            ],
+            "closest_ee_minus_button": [
+              -0.0004751787754312953,
+              7.853360941839638e-05,
+              0.03498477219794216
+            ],
+            "button_min_z_position": [
+              0.17753143608570093,
+              -0.4387727677822113,
+              0.7680598497390747
+            ],
+            "min_active_finger_to_button": 0.14624619062048239,
+            "closest_active_finger": [
+              0.036259882152080536,
+              -0.4234033226966858,
+              0.8107388019561768
+            ],
+            "closest_active_finger_button": [
+              0.17756196856498713,
+              -0.43882811069488525,
+              0.776333212852478
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1413020864129066,
+              0.015424787998199463,
+              0.03440558910369873
+            ],
+            "min_contact_pad_to_button": 0.02091835171445092,
+            "closest_contact_pad": [
+              0.17753143608570093,
+              -0.43977187751491226,
+              0.7889543279137383
+            ],
+            "closest_contact_pad_button": [
+              0.17753143608570093,
+              -0.4387727677822113,
+              0.7680598497390747
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009991097327009535,
+              0.02089447817466361
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b94a127efe4e341db76f29d3c75a7ec120073d0e78da201a23d5b5ddc18e481b",
+    "visual_seed": 712656656723534077,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf0276153aaaa1fe5be7aa11e061d4a3b149407a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_90_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3177608163615169,
+              0.2919227600257073,
+              1.0467703054712094
+            ],
+            "current_z": 1.0467703054712094,
+            "required_z": 0.8565864478039206,
+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.19018385766728885,
+            "gripper_z": 1.0474205087449668,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31172607559814314,
+              0.28668335515052285,
+              1.0474205087449668
+            ],
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+              0.006034740763373736,
+              0.005239404875184428,
+              -0.0006502032737574215
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+            "object_to_gripper_xy": 0.007991837055848359,
+            "object_to_gripper_z": -0.0006502032737574215,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3177608163615169,
+              0.2667415160166142,
+              1.0467703054712094
+            ],
+            "finger_b": [
+              0.3054518193155056,
+              0.2919227600257073,
+              1.0467703054712094
+            ],
+            "finger_midpoint": [
+              0.3116063178385112,
+              0.27933213802116075,
+              1.0467703054712094
+            ],
+            "object_minus_finger_midpoint": [
+              0.006154498523005647,
+              0.012590622004546526,
+              0.0
+            ],
+            "finger_gap": 0.028028672072080037,
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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": 1.0467703054712094,
+            "object_top_z": 1.0932317933301001,
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+            "object_to_finger_line_xy": 0.011058528114557705,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04925640344677083,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2672934268569525,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31704627372625915,
+              0.29087193228865016,
+              1.2382579814732404
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+            "held_position": [
+              0.3233352334414102,
+              0.2957912887211876,
+              1.2375350547842734
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008017088312271532,
+            "max_held_gripper_dist": 0.008020129384974494,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007229266889670072,
+            "max_held_gripper_z_dist": 0.0008694696056996687,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0876972630973698,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.27001658792991023,
+              1.2375350547842734
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+              1.2375350547842734
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+              0.31780367151180056,
+              0.28290393832554894,
+              1.2375350547842734
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+            "held_grasp_object_position": [
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+              0.2957912887211876,
+              1.2375350547842734
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+            "held_grasp_finger_gap": 0.02804867038567602,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025397904047249887,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03234611986705823,
+              -0.9992648755177996,
+              0.020577586980561557
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0051187812244621956,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032143423811731416,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.33228450396094505,
+              -0.38378458803306464,
+              0.8470195385258996
+            ],
+            "target_position": [
+              0.32356174789394143,
+              -0.3866207897513186,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009172268726497013,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1886388193403261,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195385258996,
+            "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": 0.07536069877532138,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08571325584321775,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15757824732949124,
+            "release_required_pad_clearance": 0.052856627921608876,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7558835506857685,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008732974529266357,
+            "max_z_decrease": 0.008732974529266357,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501875452011426,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008732974529266357,
+            "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": 0.02118056069663898,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008732974529266357,
+            "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": 0.008733290663555528,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1792616695165634,
+              -0.442882239818573,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1792616695165634,
+              -0.442882239818573,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17955499024903607,
+              -0.44405853052392485,
+              0.8034457773977199
+            ],
+            "closest_button": [
+              0.17921543121337885,
+              -0.4428324401378631,
+              0.768450140953064
+            ],
+            "closest_ee_minus_button": [
+              0.00033955903565721646,
+              -0.0012260903860617511,
+              0.034995636444655975
+            ],
+            "button_min_z_position": [
+              0.17920695245265955,
+              -0.44283196330070496,
+              0.7680758833885193
+            ],
+            "min_active_finger_to_button": 0.14543786031325792,
+            "closest_active_finger": [
+              0.03899035602807999,
+              -0.42640185356140137,
+              0.8077309131622314
+            ],
+            "closest_active_finger_button": [
+              0.17927165329456324,
+              -0.4428875744342804,
+              0.7730675339698792
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14028129726648325,
+              0.01648572087287903,
+              0.034663379192352295
+            ],
+            "min_contact_pad_to_button": 0.02118056069663898,
+            "closest_contact_pad": [
+              0.17920695245265955,
+              -0.44536333447206805,
+              0.7891046330284004
+            ],
+            "closest_contact_pad_button": [
+              0.17920695245265955,
+              -0.44283196330070496,
+              0.7680758833885193
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002531371171363095,
+              0.021028749639881106
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3596bfe92a99c253befbc078803393cd70f5d33e6ddd9aa998b8d080e03d7e80",
+    "visual_seed": 3127751131432184768,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6bf78ad62bc9389f4dd06bc0747ed8a34f59c9a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_91_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.292689259328475,
+              1.0486514443751698
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+            "current_z": 1.0486514443751698,
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1920649369666042,
+            "gripper_z": 1.0500330304783054,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.3121395044710673,
+              0.2875426912691502,
+              1.0500330304783054
+            ],
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+              0.005757456858329957,
+              0.005146568059324785,
+              -0.0013815861031356569
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+            "object_to_gripper_xy": 0.007722400680150748,
+            "object_to_gripper_z": -0.0013815861031356569,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31789696132939727,
+              0.26769963475458236,
+              1.0486514443751698
+            ],
+            "finger_b": [
+              0.3057221214774629,
+              0.292689259328475,
+              1.0486514443751698
+            ],
+            "finger_midpoint": [
+              0.3118095414034301,
+              0.2801944470415287,
+              1.0486514443751698
+            ],
+            "object_minus_finger_midpoint": [
+              0.006087419925967175,
+              0.012494812286946322,
+              0.0
+            ],
+            "finger_gap": 0.027797626908863064,
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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": 1.0486514443751698,
+            "object_top_z": 1.0940489995548397,
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+            "object_projection_between_fingers": 0.8081724097949773,
+            "object_to_finger_line_xy": 0.01094498743164655,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048085702947546036,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0465162832682353,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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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",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "23ea758a2cab19ff8da52e6eb08e957d014536ca3e70d35be988addd0fecfb63",
+    "visual_seed": 1438998282847192623,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb0827fbbe403e91a10cd648f7477854395d4c5f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_92_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "shake",
+          "target": "beaker_b",
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+          "metrics": {
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+            },
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+            "forbidden": [],
+            "disturbances": [],
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008635759353637695,
+            "max_z_decrease": 0.008635759353637695,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035080189187315605,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008635759353637695,
+            "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": 0.020884174825745894,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008635759353637695,
+            "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": 0.008635960524170096,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17263154685497284,
+              -0.43836319446563715,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17263154685497284,
+              -0.43836319446563715,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1746133844994565,
+              -0.4372749205567314,
+              0.8032993096510366
+            ],
+            "closest_button": [
+              0.17267142236232758,
+              -0.4383254945278168,
+              0.7682886719703674
+            ],
+            "closest_ee_minus_button": [
+              0.0019419621371289109,
+              0.0010505739710853779,
+              0.03501063768066914
+            ],
+            "button_min_z_position": [
+              0.17267201840877533,
+              -0.4383203387260437,
+              0.768173098564148
+            ],
+            "min_active_finger_to_button": 0.14360543510199109,
+            "closest_active_finger": [
+              0.048792824149131775,
+              -0.5025336146354675,
+              0.8107067942619324
+            ],
+            "closest_active_finger_button": [
+              0.17263253033161163,
+              -0.43836507201194763,
+              0.7765213251113892
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12383970618247986,
+              -0.0641685426235199,
+              0.03418546915054321
+            ],
+            "min_contact_pad_to_button": 0.020884174825745894,
+            "closest_contact_pad": [
+              0.17267201840877533,
+              -0.4383203387260437,
+              0.7890572733898938
+            ],
+            "closest_contact_pad_button": [
+              0.17267201840877533,
+              -0.4383203387260437,
+              0.768173098564148
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020884174825745894
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d7e893a7d742a0bbff2a523a7d97d95ab8a4188a746f001fad71d6128bfb9979",
+    "visual_seed": 6965961671681005131,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb276c271e7437641ef23de4ab2eeaaef48025b2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_93_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31410397976612836,
+              0.293652203633601,
+              1.0479299186234687
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+            "current_z": 1.0479299186234687,
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+            "lift_margin": 0.19134341121490317,
+            "gripper_z": 1.0492283229651602,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3084016204642809,
+              0.28856262254754994,
+              1.0492283229651602
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+              0.005702359301847482,
+              0.005089581086051065,
+              -0.0012984043416914837
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+            "object_to_gripper_z": -0.0012984043416914837,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31410397976612836,
+              0.2686073700728302,
+              1.0479299186234687
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+            "finger_b": [
+              0.3021370950604676,
+              0.293652203633601,
+              1.0479299186234687
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+            "finger_midpoint": [
+              0.308120537413298,
+              0.2811297868532156,
+              1.0479299186234687
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059834423528303815,
+              0.012522416780385404,
+              0.0
+            ],
+            "finger_gap": 0.027756981421712432,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_top_z": 1.0935195694457263,
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+            "object_projection_between_fingers": 0.8141263855165374,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868323055656597,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31388974539592546,
+              0.2923802117519406,
+              1.2363238185692589
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+            "held_position": [
+              0.3198524555290421,
+              0.29712708967130264,
+              1.2349031636680878
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007752742899201555,
+            "max_held_gripper_dist": 0.00775540557312209,
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint5",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3257827271740345,
+              -0.37998728828687445,
+              0.8470194326937379
+            ],
+            "target_position": [
+              0.31713459575529207,
+              -0.38278090437262735,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009088149859592842,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1867101540588571,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194326937379,
+            "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": 0.07514279555801526,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08651435000439299,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15620941248624767,
+            "release_required_pad_clearance": 0.0532571750021965,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5343867486583043,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008655309677124023,
+            "max_z_decrease": 0.008655309677124023,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350538145261186,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008655309677124023,
+            "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": 0.02097071882114039,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008655309677124023,
+            "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": 0.008655466356433316,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1728345155715943,
+              -0.4390423595905304,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1728345155715943,
+              -0.4390423595905304,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17451839836072103,
+              -0.43807321955465534,
+              0.8031559690508406
+            ],
+            "closest_button": [
+              0.17286138236522683,
+              -0.438997745513916,
+              0.7681535482406616
+            ],
+            "closest_ee_minus_button": [
+              0.0016570159954941988,
+              0.0009245259592606803,
+              0.035002420810179014
+            ],
+            "button_min_z_position": [
+              0.17286138236522683,
+              -0.438997745513916,
+              0.7681535482406616
+            ],
+            "min_active_finger_to_button": 0.14397927338827457,
+            "closest_active_finger": [
+              0.047115519642829895,
+              -0.5002031326293945,
+              0.8102396726608276
+            ],
+            "closest_active_finger_button": [
+              0.1728398054838181,
+              -0.43904516100883484,
+              0.7758429050445557
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12572428584098821,
+              -0.06115797162055969,
+              0.03439676761627197
+            ],
+            "min_contact_pad_to_button": 0.02097071882114039,
+            "closest_contact_pad": [
+              0.17286138236522683,
+              -0.43933525551195374,
+              0.7891215508846083
+            ],
+            "closest_contact_pad_button": [
+              0.17286138236522683,
+              -0.438997745513916,
+              0.7681535482406616
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00033750999803772164,
+              0.020968002643946715
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9c3ba56b39db9179da2b82565e18c82f19ca3b7e99cf38fbbfa62d458d4f3e94",
+    "visual_seed": 3893452336490844562,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..515bdb9faeffd4b53b00ba9f3d149d9ee0b29c76
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_94_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
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+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008653104305267334,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008653208519106632,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17616546154022217,
+              -0.4359910488128662,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17616546154022217,
+              -0.4359910488128662,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17607680861788272,
+              -0.4362346900110526,
+              0.80352017674004
+            ],
+            "closest_button": [
+              0.17615605890750885,
+              -0.43594452738761896,
+              0.7685271501541138
+            ],
+            "closest_ee_minus_button": [
+              -7.925028962613156e-05,
+              -0.00029016262343362076,
+              0.03499302658592618
+            ],
+            "button_min_z_position": [
+              0.17615357041358948,
+              -0.43595027923583984,
+              0.7681557536125183
+            ],
+            "min_active_finger_to_button": 0.1457997278378834,
+            "closest_active_finger": [
+              0.03514246642589569,
+              -0.42215511202812195,
+              0.8107906579971313
+            ],
+            "closest_active_finger_button": [
+              0.17616719007492065,
+              -0.43599334359169006,
+              0.7764673233032227
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14102472364902496,
+              0.013838231563568115,
+              0.03432333469390869
+            ],
+            "min_contact_pad_to_button": 0.020915032684610053,
+            "closest_contact_pad": [
+              0.17615357041358948,
+              -0.43721679753960163,
+              0.7890324038127909
+            ],
+            "closest_contact_pad_button": [
+              0.17615357041358948,
+              -0.43595027923583984,
+              0.7681557536125183
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012665183037617878,
+              0.02087665020027263
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "103226dc57e935266c27e048825d88ae937bfe7e7e255fc8851a8f5c2d835a13",
+    "visual_seed": 1656165608253588798,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc9b57d661d5f43e97f146edf9cde94c3355b4e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_95_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.314373288976765,
+              0.29818397127300866,
+              1.0464924725547764
+            ],
+            "current_z": 1.0464924725547764,
+            "required_z": 0.8565866266178549,
+            "initial_z": 0.7565866266178549,
+            "lift_margin": 0.1899058459369215,
+            "gripper_z": 1.0472246085430155,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3083660482780649,
+              0.292962856335885,
+              1.0472246085430155
+            ],
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+              0.006007240698700067,
+              0.005221114937123683,
+              -0.0007321359882390688
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+            "object_to_gripper_xy": 0.007959081730876654,
+            "object_to_gripper_z": -0.0007321359882390688,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.314373288976765,
+              0.27301733091423985,
+              1.0464924725547764
+            ],
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+              0.29818397127300866,
+              1.0464924725547764
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+              0.3082341870546654,
+              0.28560065109362426,
+              1.0464924725547764
+            ],
+            "object_minus_finger_midpoint": [
+              0.006139101922099599,
+              0.012583320179384405,
+              0.0
+            ],
+            "finger_gap": 0.028002037007819967,
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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": 1.0924837963815586,
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+            "object_to_finger_line_xy": 0.011034952218380458,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048788828752499055,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.095399195425617,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31365731040116995,
+              0.2968390897720464,
+              1.237471459066975
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+            "held_position": [
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+              0.3017325535719295,
+              1.2366614890465943
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007991840115048452,
+            "max_held_gripper_dist": 0.007994801817693931,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008099700203807458,
+            "max_held_gripper_z_dist": 0.0009624959112275455,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08771886389612779,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2759557204709516,
+              1.2366614890465943
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+              1.2366614890465943
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+              0.31442880661002515,
+              0.2888441370214406,
+              1.2366614890465943
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+            "held_grasp_object_position": [
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+              0.3017325535719295,
+              1.2366614890465943
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+            "held_grasp_finger_gap": 0.028021776235566963,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02538099946412416,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03434985057130271,
+              -0.9992886235240366,
+              0.015567101887173584
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005052965229002686,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213222862958783,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+            },
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+            "forbidden": [],
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.32573184135813754,
+              -0.38152563201938317,
+              0.8470195105328846
+            ],
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+              0.3171035128845235,
+              -0.384603300009458,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.009160791041482744,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1869966134810466,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195105328846,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15550429320438064,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
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+            "max_z_decrease": 0.008724629878997803,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508542294191386,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008724629878997803,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02094092046288809,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008724629878997803,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008724801921094974,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17280343174934387,
+              -0.44086477160453796,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17280343174934387,
+              -0.44086477160453796,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17444767789729607,
+              -0.4391366124043433,
+              0.8030893698278687
+            ],
+            "closest_button": [
+              0.17277458310127258,
+              -0.440818190574646,
+              0.7680842280387878
+            ],
+            "closest_ee_minus_button": [
+              0.0016730947960234832,
+              0.0016815781703026778,
+              0.035005141789080874
+            ],
+            "button_min_z_position": [
+              0.17277458310127258,
+              -0.440818190574646,
+              0.7680842280387878
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+            "closest_active_finger": [
+              0.04726395756006241,
+              -0.5017836689949036,
+              0.8106923699378967
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+            "closest_active_finger_button": [
+              0.17280736565589905,
+              -0.4408676326274872,
+              0.7763432264328003
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.12554340809583664,
+              -0.06091603636741638,
+              0.034349143505096436
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+            "closest_contact_pad": [
+              0.17277458310127258,
+              -0.440818190574646,
+              0.7890251485016759
+            ],
+            "closest_contact_pad_button": [
+              0.17277458310127258,
+              -0.440818190574646,
+              0.7680842280387878
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02094092046288809
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1a7a94aca9667d1b930818d0a590732f01d0ae63fa05393907e42e007e11f2bc",
+    "visual_seed": 2126096296957088901,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8808248f5596cb47d0d5134d50fe0b3a28d6e496
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_96_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.2925493794395967,
+              1.0506798131665134
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+            "lift_margin": 0.19409324615330292,
+            "gripper_z": 1.050815588138768,
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+            "gripper_position": [
+              0.3051964035700878,
+              0.28747385830416416,
+              1.050815588138768
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+              0.005357792716725429,
+              0.005075521135432526,
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+            "object_to_gripper_z": -0.00013577497225458757,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31055419628681324,
+              0.2680148169020097,
+              1.0506798131665134
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+            "finger_b": [
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+              0.2925493794395967,
+              1.0506798131665134
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+            "finger_midpoint": [
+              0.3044069156270502,
+              0.2802820981708032,
+              1.0506798131665134
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+            "object_minus_finger_midpoint": [
+              0.006147280659763055,
+              0.012267281268793506,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9579890795322021,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2602b3edece4080b10d65447bc2992a8109ddf1ff7d00b13b08bb17be933beb7",
+    "visual_seed": 1581066375693662337,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..633e663d3614a3705873c1983076db7e0038d662
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_97_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.29426799684430377,
+              1.050468606576436
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+            "lift_margin": 0.19388209916787036,
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+              0.28911765968224956,
+              1.0505894045865103
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+            "object_to_gripper_z": -0.0001207980100743633,
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+              0.26976488455218134,
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+              0.28201644069824255,
+              1.050468606576436
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+              0.012251556146061215,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04826434034653364,
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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": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2919446440923684,
+              1.2406952172927082
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+              0.2965362886485584,
+              1.2404752471630778
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007464575937153564,
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+            "held_gripper_z_dist": 0.00021997012963037577,
+            "max_held_gripper_z_dist": 0.0003583013142540725,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08849912920569902,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2707386524081063,
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+              0.2836374705283323,
+              1.2404752471630778
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+              0.2965362886485584,
+              1.2404752471630778
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024714606357342822,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              0.021221282001099632
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+            "held_grasp_object_to_finger_line_xy": 0.003789027750682648,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
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+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
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+          "metrics": {
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15760890191742508,
+            "release_required_pad_clearance": 0.05279941872325293,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6440662076205625,
+            "object_max_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008555412292480469,
+            "max_z_decrease": 0.008555412292480469,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035000204174812435,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008555412292480469,
+            "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": 0.020881999062684526,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008555412292480469,
+            "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": 0.008555635967783585,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17185989022254944,
+              -0.4387995898723602,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17185989022254944,
+              -0.4387995898723602,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1705611473915827,
+              -0.43896130864060817,
+              0.8035616080197845
+            ],
+            "closest_button": [
+              0.1719002276659012,
+              -0.43877422809600825,
+              0.7685875296592712
+            ],
+            "closest_ee_minus_button": [
+              -0.0013390802743185048,
+              -0.00018708054459992685,
+              0.03497407836051325
+            ],
+            "button_min_z_position": [
+              0.17191064357757568,
+              -0.438764214515686,
+              0.7682534456253052
+            ],
+            "min_active_finger_to_button": 0.14699638956157055,
+            "closest_active_finger": [
+              0.044112369418144226,
+              -0.5029976963996887,
+              0.8107259273529053
+            ],
+            "closest_active_finger_button": [
+              0.17186011373996735,
+              -0.4388023018836975,
+              0.7765586376190186
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12774774432182312,
+              -0.06419539451599121,
+              0.03416728973388672
+            ],
+            "min_contact_pad_to_button": 0.020881999062684526,
+            "closest_contact_pad": [
+              0.17191064357757568,
+              -0.4400198587432741,
+              0.7890976592690885
+            ],
+            "closest_contact_pad_button": [
+              0.17191064357757568,
+              -0.438764214515686,
+              0.7682534456253052
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012556442275881152,
+              0.020844213643783305
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "68da2dce29af75177e7c816e777954fb3d171fce49e1f185b55d971df6cdbb9f",
+    "visual_seed": 1635625233779228742,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..040853b5e0474ac56369069cd631db2734ac4359
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_98_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31757687384338623,
+              0.29391748128996226,
+              1.0504471948480687
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+            "lift_margin": 0.19386068743950313,
+            "gripper_z": 1.0504620595527827,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3121682797687614,
+              0.2889104016388635,
+              1.0504620595527827
+            ],
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+              0.005408594074624851,
+              0.005007079651098756,
+              -1.4864704714012689e-05
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+            "object_to_gripper_z": -1.4864704714012689e-05,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31757687384338623,
+              0.2692556423993292,
+              1.0504471948480687
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+            "finger_b": [
+              0.3054720114374821,
+              0.29391748128996226,
+              1.0504471948480687
+            ],
+            "finger_midpoint": [
+              0.31152444264043416,
+              0.2815865618446457,
+              1.0504471948480687
+            ],
+            "object_minus_finger_midpoint": [
+              0.006052431202952069,
+              0.012330919445316557,
+              0.0
+            ],
+            "finger_gap": 0.02747242237833083,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_top_z": 1.097026711238823,
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+            "object_projection_between_fingers": 0.8058551813639714,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04892232623257729,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1011454985854368,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3184387007608761,
+              0.29144159135204095,
+              1.238680347665697
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+            "held_position": [
+              0.32430097586518,
+              0.2959065816829709,
+              1.2385208228469697
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007370743261139196,
+            "max_held_gripper_dist": 0.007371548903616509,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00015952481872716362,
+            "max_held_gripper_z_dist": 0.0002953340350366762,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08904489736432031,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+                "/World/target_beaker"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_leftfinger",
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+                "gripper",
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+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "floor",
+                "ground",
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+                "link0",
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3229671128384079,
+              -0.3871995849133674,
+              0.847019799296417
+            ],
+            "target_position": [
+              0.31619025212446206,
+              -0.38842024423927973,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006885916810865439,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18637161392775264,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019799296417,
+            "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": 0.07542617274739354,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08635381095214005,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15486885437128284,
+            "release_required_pad_clearance": 0.05317690547607003,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.375698497831364,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008826613426208496,
+            "max_z_decrease": 0.008826613426208496,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508233848204245,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008826613426208496,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020898015770438372,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008826613426208496,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008826840729748481,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1718901842832565,
+              -0.44468170404434204,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1718901842832565,
+              -0.44468170404434204,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17380174992675917,
+              -0.4435158538668932,
+              0.8033674020748949
+            ],
+            "closest_button": [
+              0.17187061905860895,
+              -0.44462400674819946,
+              0.7683557868003845
+            ],
+            "closest_ee_minus_button": [
+              0.0019311308681502215,
+              0.001108152881306279,
+              0.035011615274510355
+            ],
+            "button_min_z_position": [
+              0.17186364531517026,
+              -0.4446241855621338,
+              0.7679822444915771
+            ],
+            "min_active_finger_to_button": 0.1436635081673238,
+            "closest_active_finger": [
+              0.047268547117710114,
+              -0.5074270367622375,
+              0.8104512691497803
+            ],
+            "closest_active_finger_button": [
+              0.1718918085098266,
+              -0.44468432664871216,
+              0.7762226462364197
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12462326139211649,
+              -0.06274271011352539,
+              0.034228622913360596
+            ],
+            "min_contact_pad_to_button": 0.020898015770438372,
+            "closest_contact_pad": [
+              0.17186364531517026,
+              -0.4446241855621338,
+              0.7888802602620155
+            ],
+            "closest_contact_pad_button": [
+              0.17186364531517026,
+              -0.4446241855621338,
+              0.7679822444915771
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020898015770438372
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "85851ae5f6bbfe611dccddcf46c3ad2f06dc2e3badb6b630fe0dd92bcdddf4f3",
+    "visual_seed": 8865604616522351883,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9a096d57a3e55e47e9cea895e2613b5353ef745
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_99_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3148711345507331,
+              0.293150192958067,
+              1.0492599094535475
+            ],
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+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008677171669809282,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1715406775474548,
+              -0.4414345920085907,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1715406775474548,
+              -0.4414345920085907,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17166240775023853,
+              -0.439565130311922,
+              0.8031202012680546
+            ],
+            "closest_button": [
+              0.17157909274101255,
+              -0.44139713048934937,
+              0.7681318521499634
+            ],
+            "closest_ee_minus_button": [
+              8.331500922598156e-05,
+              0.0018320001774273509,
+              0.03498834911809123
+            ],
+            "button_min_z_position": [
+              0.17157909274101255,
+              -0.44139713048934937,
+              0.7681318521499634
+            ],
+            "min_active_finger_to_button": 0.14497998460807424,
+            "closest_active_finger": [
+              0.04378567636013031,
+              -0.5007099509239197,
+              0.8107739686965942
+            ],
+            "closest_active_finger_button": [
+              0.17154386639595032,
+              -0.4414366781711579,
+              0.7763687372207642
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12775819003582,
+              -0.059273272752761785,
+              0.03440523147583008
+            ],
+            "min_contact_pad_to_button": 0.02095135808727866,
+            "closest_contact_pad": [
+              0.17157909274101255,
+              -0.44139713048934937,
+              0.789083210237242
+            ],
+            "closest_contact_pad_button": [
+              0.17157909274101255,
+              -0.44139713048934937,
+              0.7681318521499634
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02095135808727866
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8709091252989081451,
+    "physical_seed": 4539124574825027401,
+    "layout_id": "layout_00026",
+    "step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "workflow_spec_digest": "29e332f880879a0b1b153d2b1b86e1da377a159484df7d436e740388122042c7",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "36af4d6b7c9065a336df5e66334801ae58766a48069e61f1d7e586e3fb7bbf9e",
+    "visual_seed": 6707995523760082367,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8125585604563232929,
+      4598593424619752825,
+      6528445040825174555,
+      3529294668470908039
+    ],
+    "runtime_workflow_digest": "b4985070cfa327492a2bd4ff6fdb59b763cfa8d46970632fe7156a7587f805ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..42687a826cf74ac4fcaf0dc6f586d3e893a3ffa9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/episode_9_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31316827439899086,
+              0.296168510446682,
+              1.050191024133907
+            ],
+            "current_z": 1.050191024133907,
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19360457632998618,
+            "gripper_z": 1.05016829748822,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3079811582902372,
+              0.2911837968126777,
+              1.05016829748822
+            ],
+            "object_minus_gripper": [
+              0.005187116108753664,
+              0.004984713634004323,
+              2.2726645686921287e-05
+            ],
+            "object_to_gripper_xy": 0.0071939935737197,
+            "object_to_gripper_z": 2.2726645686921287e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31316827439899086,
+              0.271733972388391,
+              1.050191024133907
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+            "finger_b": [
+              0.3010254785661053,
+              0.296168510446682,
+              1.050191024133907
+            ],
+            "finger_midpoint": [
+              0.3070968764825481,
+              0.28395124141753647,
+              1.050191024133907
+            ],
+            "object_minus_finger_midpoint": [
+              0.006071397916442789,
+              0.01221726902914555,
+              0.0
+            ],
+            "finger_gap": 0.027285419930087512,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013642709965043782,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0964838810188806,
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+            "fingertip_min_top_clearance": 0.013887857065492126,
+            "object_projection_between_fingers": 0.8019494277169409,
+            "object_to_finger_line_xy": 0.010874071488470161,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04846897393626719,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7741588617384291,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3139622974764261,
+              0.29426778132403,
+              1.2409548053354202
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+            "held_position": [
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+              0.2987549162661477,
+              1.240891275297484
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0071945744701265805,
+            "max_held_gripper_dist": 0.0071985929316243195,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 6.353003793613254e-05,
+            "max_held_gripper_z_dist": 0.0001967957758179928,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08831150733733312,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31958577378132,
+              0.27309280027379434,
+              1.240891275297484
+            ],
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+            "held_grasp_midpoint": [
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+              0.285923858269971,
+              1.240891275297484
+            ],
+            "held_grasp_object_position": [
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+              0.2987549162661477,
+              1.240891275297484
+            ],
+            "held_grasp_finger_gap": 0.027497772197978113,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024651219657261227,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09088972674144948,
+              -0.9955947126622059,
+              0.023026630060098193
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003764578257981219,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03197676779673015,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                "festo",
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+                "joint2",
+                "joint3",
+                "joint4",
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+                "lift2",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
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+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
+                "wheel",
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+    "forbidden_shortcuts_absent": true
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+    "action_seed": 8709091252989081451,
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1126639f7566adf0e7329b1d9486b40528042e203637448ec3fee4627ac90698",
+    "visual_seed": 151001360573226640,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eff99c0fc2b0cdc1d9d07d6b33d3865dd8d4250
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00026/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heat_2beaker_s04_pslr_hte_00026",
+  "family": "lab3_v1",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00027/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00027/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c6e3c01e728b113ccb65fc4fa7d760bebbc8921d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00027/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
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